118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
9.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 243 warnings · 280 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950892.70296001 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us[0m ×2 + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950893.30265141 seconds. ×3 + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794939775 [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 + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794997568 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278547283 [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;93m2026-06-08 20:34:54.278579065 [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;93m2026-06-08 20:34:54.373813024 [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;93m2026-06-08 20:34:54.375521826 [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;93m2026-06-08 20:34:54.375538977 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.95sINFOobjective_server_node[0;93m2026-06-08 20:34:54.654732898 [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 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668269059 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668312461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us[0m ×2 + 2.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950895.52962208 seconds ×3 + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950896.32663512 seconds. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7).[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us[0m ×2 + 4.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681456 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681456 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 8297.958 us (Expected < 1666.667 us) --> Read time : 86.865 us, Update time : 7729.817 us, Write time : 481.276 us + 7.42sWARNros2_control_nodeOverrun might occur, Total time : 8297.958 us (Expected < 1666.667 us) --> Read time : 86.865 us, Update time : 7729.817 us, Write time : 481.276 us[0m ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.85sINFOros2_control_node[2026-06-08 20:35:00.547] [info] Received new action goal ×2 + 7.85sINFOros2_control_node[2026-06-08 20:35:00.547] [info] Accepted new action goal ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838746 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838746 ms (missed cycles : 3).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348872 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348872 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun might occur, Total time : 1869.370 us (Expected < 1666.667 us) --> Read time : 182.940 us, Update time : 45.442 us, Write time : 1640.988 us + 9.52sWARNros2_control_nodeOverrun might occur, Total time : 1869.370 us (Expected < 1666.667 us) --> Read time : 182.940 us, Update time : 45.442 us, Write time : 1640.988 us[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921024 ms (missed cycles : 4). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921024 ms (missed cycles : 4).[0m ×2 + 10.92sWARNcontroller_managerOverrun might occur, Total time : 7063.201 us (Expected < 1666.667 us) --> Read time : 142.328 us, Update time : 6484.840 us, Write time : 436.033 us + 10.92sWARNros2_control_nodeOverrun might occur, Total time : 7063.201 us (Expected < 1666.667 us) --> Read time : 142.328 us, Update time : 6484.840 us, Write time : 436.033 us[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355999 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355999 ms (missed cycles : 2).[0m ×2 + 11.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 11.08sINFOros2_control_node[2026-06-08 20:35:03.778] [info] Received new action goal ×2 + 11.08sINFOros2_control_node[2026-06-08 20:35:03.778] [info] Accepted new action goal ×2 + 11.94sWARNcontroller_managerOverrun might occur, Total time : 5168.479 us (Expected < 1666.667 us) --> Read time : 79.184 us, Update time : 4661.732 us, Write time : 427.563 us + 11.94sWARNros2_control_nodeOverrun might occur, Total time : 5168.479 us (Expected < 1666.667 us) --> Read time : 79.184 us, Update time : 4661.732 us, Write time : 427.563 us[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372371 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372371 ms (missed cycles : 3).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523755 ms (missed cycles : 4). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523755 ms (missed cycles : 4).[0m ×2 + 14.03sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652836 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652836 ms (missed cycles : 3).[0m ×2 + 14.03sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.06sINFOros2_control_node[2026-06-08 20:35:06.765] [info] Received new action goal ×2 + 14.06sINFOros2_control_node[2026-06-08 20:35:06.765] [info] Accepted new action goal ×2 + 15.02sWARNcontroller_managerOverrun might occur, Total time : 1894.023 us (Expected < 1666.667 us) --> Read time : 108.976 us, Update time : 250.164 us, Write time : 1534.883 us + 15.02sWARNros2_control_nodeOverrun might occur, Total time : 1894.023 us (Expected < 1666.667 us) --> Read time : 108.976 us, Update time : 250.164 us, Write time : 1534.883 us[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847807 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847807 ms (missed cycles : 2).[0m ×2 + 16.03sWARNcontroller_managerOverrun might occur, Total time : 1904.442 us (Expected < 1666.667 us) --> Read time : 116.556 us, Update time : 1454.728 us, Write time : 333.158 us + 16.03sWARNros2_control_nodeOverrun might occur, Total time : 1904.442 us (Expected < 1666.667 us) --> Read time : 116.556 us, Update time : 1454.728 us, Write time : 333.158 us[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103216 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103216 ms (missed cycles : 3).[0m ×2 + 17.03sINFOobjective_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 + 17.03sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 17.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.03sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 17.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.03sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 17.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 17.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.03sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.740446 ms (missed cycles : 5). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.740446 ms (missed cycles : 5).[0m ×2 + 17.44sWARNcontroller_managerOverrun might occur, Total time : 2133.175 us (Expected < 1666.667 us) --> Read time : 211.801 us, Update time : 240.933 us, Write time : 1680.441 us + 17.44sWARNros2_control_nodeOverrun might occur, Total time : 2133.175 us (Expected < 1666.667 us) --> Read time : 211.801 us, Update time : 240.933 us, Write time : 1680.441 us[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.743588 ms (missed cycles : 7). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.743588 ms (missed cycles : 7).[0m ×2 + 19.00sWARNcontroller_managerOverrun might occur, Total time : 2122.894 us (Expected < 1666.667 us) --> Read time : 164.939 us, Update time : 1562.054 us, Write time : 395.901 us + 19.00sWARNros2_control_nodeOverrun might occur, Total time : 2122.894 us (Expected < 1666.667 us) --> Read time : 164.939 us, Update time : 1562.054 us, Write time : 395.901 us[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786297 ms (missed cycles : 4). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786297 ms (missed cycles : 4).[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131199 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131199 ms (missed cycles : 3).[0m ×2 + 20.39sWARNcontroller_managerOverrun might occur, Total time : 5364.149 us (Expected < 1666.667 us) --> Read time : 103.585 us, Update time : 4860.722 us, Write time : 399.842 us + 20.39sWARNros2_control_nodeOverrun might occur, Total time : 5364.149 us (Expected < 1666.667 us) --> Read time : 103.585 us, Update time : 4860.722 us, Write time : 399.842 us[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.458275 ms (missed cycles : 8). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.458275 ms (missed cycles : 8).[0m ×2 + 21.69sWARNcontroller_managerOverrun might occur, Total time : 3310.276 us (Expected < 1666.667 us) --> Read time : 141.437 us, Update time : 2690.954 us, Write time : 477.885 us + 21.69sWARNros2_control_nodeOverrun might occur, Total time : 3310.276 us (Expected < 1666.667 us) --> Read time : 141.437 us, Update time : 2690.954 us, Write time : 477.885 us[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413600 ms (missed cycles : 4). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413600 ms (missed cycles : 4).[0m ×2 + 22.71sWARNcontroller_managerOverrun might occur, Total time : 2006.069 us (Expected < 1666.667 us) --> Read time : 179.920 us, Update time : 60.003 us, Write time : 1766.146 us + 22.71sWARNros2_control_nodeOverrun might occur, Total time : 2006.069 us (Expected < 1666.667 us) --> Read time : 179.920 us, Update time : 60.003 us, Write time : 1766.146 us[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996799 ms (missed cycles : 2). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996799 ms (missed cycles : 2).[0m ×2 + 23.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.76sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.76sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.76sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.76sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.08sWARNcontroller_managerOverrun might occur, Total time : 3554.631 us (Expected < 1666.667 us) --> Read time : 141.587 us, Update time : 3073.356 us, Write time : 339.688 us + 24.08sWARNros2_control_nodeOverrun might occur, Total time : 3554.631 us (Expected < 1666.667 us) --> Read time : 141.587 us, Update time : 3073.356 us, Write time : 339.688 us[0m ×2 + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150969 ms (missed cycles : 4). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150969 ms (missed cycles : 4).[0m ×2 + 24.76sINFOros2_control_node[2026-06-08 20:35:17.461] [info] Received new action goal ×2 + 24.76sINFOros2_control_node[2026-06-08 20:35:17.461] [info] Accepted new action goal ×2 + 25.20sWARNcontroller_managerOverrun might occur, Total time : 6160.701 us (Expected < 1666.667 us) --> Read time : 117.596 us, Update time : 5657.605 us, Write time : 385.500 us + 25.20sWARNros2_control_nodeOverrun might occur, Total time : 6160.701 us (Expected < 1666.667 us) --> Read time : 117.596 us, Update time : 5657.605 us, Write time : 385.500 us[0m ×2 + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645609 ms (missed cycles : 4). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645609 ms (missed cycles : 4).[0m ×2 + 25.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.20sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 26.20sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.23sINFOros2_control_node[2026-06-08 20:35:18.935] [info] Received new action goal ×2 + 26.23sINFOros2_control_node[2026-06-08 20:35:18.935] [info] Accepted new action goal ×2 + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130198 ms (missed cycles : 3). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130198 ms (missed cycles : 3).[0m ×2 + 26.95sWARNcontroller_managerOverrun might occur, Total time : 2167.857 us (Expected < 1666.667 us) --> Read time : 175.959 us, Update time : 44.913 us, Write time : 1946.985 us + 26.95sWARNros2_control_nodeOverrun might occur, Total time : 2167.857 us (Expected < 1666.667 us) --> Read time : 175.959 us, Update time : 44.913 us, Write time : 1946.985 us[0m ×2 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559697 ms (missed cycles : 4). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559697 ms (missed cycles : 4).[0m ×2 + 28.03sWARNcontroller_managerOverrun might occur, Total time : 3767.483 us (Expected < 1666.667 us) --> Read time : 129.347 us, Update time : 3128.118 us, Write time : 510.018 us + 28.03sWARNros2_control_nodeOverrun might occur, Total time : 3767.483 us (Expected < 1666.667 us) --> Read time : 129.347 us, Update time : 3128.118 us, Write time : 510.018 us[0m ×2 + 28.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 28.33sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.34sINFOros2_control_node[2026-06-08 20:35:21.043] [info] Received new action goal ×2 + 28.34sINFOros2_control_node[2026-06-08 20:35:21.043] [info] Accepted new action goal ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950125 ms (missed cycles : 3). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950125 ms (missed cycles : 3).[0m ×2 + 29.05sWARNcontroller_managerOverrun might occur, Total time : 4255.899 us (Expected < 1666.667 us) --> Read time : 117.626 us, Update time : 3540.601 us, Write time : 597.672 us + 29.05sWARNros2_control_nodeOverrun might occur, Total time : 4255.899 us (Expected < 1666.667 us) --> Read time : 117.626 us, Update time : 3540.601 us, Write time : 597.672 us[0m ×2 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810267 ms (missed cycles : 2). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810267 ms (missed cycles : 2).[0m ×2 + 30.61sWARNcontroller_managerOverrun might occur, Total time : 1683.072 us (Expected < 1666.667 us) --> Read time : 140.287 us, Update time : 1267.479 us, Write time : 275.306 us + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860605 ms (missed cycles : 2). + 30.61sWARNros2_control_nodeOverrun might occur, Total time : 1683.072 us (Expected < 1666.667 us) --> Read time : 140.287 us, Update time : 1267.479 us, Write time : 275.306 us[0m ×2 + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860605 ms (missed cycles : 2).[0m ×2 + 31.39sINFOros2_control_node[2026-06-08 20:35:24.088] [info] Received new action goal ×2 + 31.39sINFOros2_control_node[2026-06-08 20:35:24.088] [info] Accepted new action goal ×2 + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353635 ms (missed cycles : 8). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353635 ms (missed cycles : 8).[0m ×2 + 32.04sWARNcontroller_managerOverrun might occur, Total time : 6063.967 us (Expected < 1666.667 us) --> Read time : 97.225 us, Update time : 5586.881 us, Write time : 379.861 us + 32.04sWARNros2_control_nodeOverrun might occur, Total time : 6063.967 us (Expected < 1666.667 us) --> Read time : 97.225 us, Update time : 5586.881 us, Write time : 379.861 us[0m ×2 + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406762 ms (missed cycles : 3). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406762 ms (missed cycles : 3).[0m ×2 + 33.44sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.23% of iterations over budget over 2:10.009 of wall time (91/40255). Below 1% is expected on a non-realtime system.[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767593 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767593 ms (missed cycles : 2).[0m ×2 + 33.96sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 33.96sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.00sWARNcontroller_managerOverrun might occur, Total time : 5421.463 us (Expected < 1666.667 us) --> Read time : 158.539 us, Update time : 4779.958 us, Write time : 482.966 us + 34.00sWARNros2_control_nodeOverrun might occur, Total time : 5421.463 us (Expected < 1666.667 us) --> Read time : 158.539 us, Update time : 4779.958 us, Write time : 482.966 us[0m ×2 + 34.00sINFOros2_control_node[2026-06-08 20:35:26.706] [info] Received new action goal ×2 + 34.00sINFOros2_control_node[2026-06-08 20:35:26.706] [info] Accepted new action goal ×2 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310522 ms (missed cycles : 4). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310522 ms (missed cycles : 4).[0m ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109765 ms (missed cycles : 3). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109765 ms (missed cycles : 3).[0m ×2 + 36.63sWARNcontroller_managerOverrun might occur, Total time : 5370.371 us (Expected < 1666.667 us) --> Read time : 159.149 us, Update time : 4784.208 us, Write time : 427.014 us + 36.63sWARNros2_control_nodeOverrun might occur, Total time : 5370.371 us (Expected < 1666.667 us) --> Read time : 159.149 us, Update time : 4784.208 us, Write time : 427.014 us[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.369464 ms (missed cycles : 8). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.369464 ms (missed cycles : 8).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.762439 ms (missed cycles : 7). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.762439 ms (missed cycles : 7).[0m ×2 + 38.01sWARNcontroller_managerOverrun might occur, Total time : 5350.059 us (Expected < 1666.667 us) --> Read time : 162.429 us, Update time : 4819.850 us, Write time : 367.780 us + 38.01sWARNros2_control_nodeOverrun might occur, Total time : 5350.059 us (Expected < 1666.667 us) --> Read time : 162.429 us, Update time : 4819.850 us, Write time : 367.780 us[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983914 ms (missed cycles : 3). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983914 ms (missed cycles : 3).[0m ×2 + 39.06sWARNcontroller_managerOverrun might occur, Total time : 1813.288 us (Expected < 1666.667 us) --> Read time : 171.189 us, Update time : 1356.563 us, Write time : 285.536 us + 39.06sWARNros2_control_nodeOverrun might occur, Total time : 1813.288 us (Expected < 1666.667 us) --> Read time : 171.189 us, Update time : 1356.563 us, Write time : 285.536 us[0m ×2 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420195 ms (missed cycles : 5). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420195 ms (missed cycles : 5).[0m ×2 + 40.62sWARNcontroller_managerOverrun might occur, Total time : 1976.275 us (Expected < 1666.667 us) --> Read time : 718.898 us, Update time : 73.574 us, Write time : 1183.803 us + 40.62sWARNros2_control_nodeOverrun might occur, Total time : 1976.275 us (Expected < 1666.667 us) --> Read time : 718.898 us, Update time : 73.574 us, Write time : 1183.803 us[0m ×2 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814563 ms (missed cycles : 2). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814563 ms (missed cycles : 2).[0m ×2 + 41.66sWARNcontroller_managerOverrun might occur, Total time : 1815.687 us (Expected < 1666.667 us) --> Read time : 180.609 us, Update time : 81.554 us, Write time : 1553.524 us + 41.66sWARNros2_control_nodeOverrun might occur, Total time : 1815.687 us (Expected < 1666.667 us) --> Read time : 180.609 us, Update time : 81.554 us, Write time : 1553.524 us[0m ×2 + 42.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641709 ms (missed cycles : 3). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641709 ms (missed cycles : 3).[0m ×2 + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606761 ms (missed cycles : 4). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606761 ms (missed cycles : 4).[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339668 ms (missed cycles : 3). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339668 ms (missed cycles : 3).[0m ×2 + 44.83sINFOros2_control_node[2026-06-08 20:35:37.533] [info] Received new action goal ×2 + 44.83sINFOros2_control_node[2026-06-08 20:35:37.533] [info] Accepted new action goal ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486407 ms (missed cycles : 6). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486407 ms (missed cycles : 6).[0m ×2 + 45.42sWARNcontroller_managerOverrun might occur, Total time : 5396.990 us (Expected < 1666.667 us) --> Read time : 146.758 us, Update time : 4793.228 us, Write time : 457.004 us + 45.42sWARNros2_control_nodeOverrun might occur, Total time : 5396.990 us (Expected < 1666.667 us) --> Read time : 146.758 us, Update time : 4793.228 us, Write time : 457.004 us[0m ×2 + 45.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780950938.68968916 seconds ×3 + 46.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701010 ms (missed cycles : 4). + 46.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701010 ms (missed cycles : 4).[0m ×2 + 46.69sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780950939.38906145 seconds. ×3 + 46.95sWARNcontroller_managerOverrun might occur, Total time : 1973.886 us (Expected < 1666.667 us) --> Read time : 232.782 us, Update time : 1214.275 us, Write time : 526.829 us + 46.95sWARNros2_control_nodeOverrun might occur, Total time : 1973.886 us (Expected < 1666.667 us) --> Read time : 232.782 us, Update time : 1214.275 us, Write time : 526.829 us[0m ×2 + 47.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 47.15sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339651 ms (missed cycles : 5). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339651 ms (missed cycles : 5).[0m ×2 + 47.90sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 47.90sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.91sINFOros2_control_node[2026-06-08 20:35:40.613] [info] Received new action goal ×2 + 47.91sINFOros2_control_node[2026-06-08 20:35:40.613] [info] Accepted new action goal ×2 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773734 ms (missed cycles : 4). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773734 ms (missed cycles : 4).[0m ×2 + 48.55sWARNcontroller_managerOverrun might occur, Total time : 1830.769 us (Expected < 1666.667 us) --> Read time : 182.450 us, Update time : 1361.143 us, Write time : 287.176 us + 48.55sWARNros2_control_nodeOverrun might occur, Total time : 1830.769 us (Expected < 1666.667 us) --> Read time : 182.450 us, Update time : 1361.143 us, Write time : 287.176 us[0m ×2 + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254488 ms (missed cycles : 2). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254488 ms (missed cycles : 2).[0m ×2 + 49.57sWARNcontroller_managerOverrun might occur, Total time : 1715.612 us (Expected < 1666.667 us) --> Read time : 874.587 us, Update time : 253.644 us, Write time : 587.381 us + 49.57sWARNros2_control_nodeOverrun might occur, Total time : 1715.612 us (Expected < 1666.667 us) --> Read time : 874.587 us, Update time : 253.644 us, Write time : 587.381 us[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 31.4s | 8391 errors · 210 warnings · 104336 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549681 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549681 ms (missed cycles : 3).[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 3666.287 us (Expected < 1666.667 us) --> Read time : 94.465 us, Update time : 3072.435 us, Write time : 499.387 us + 0.34sWARNros2_control_nodeOverrun might occur, Total time : 3666.287 us (Expected < 1666.667 us) --> Read time : 94.465 us, Update time : 3072.435 us, Write time : 499.387 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938349 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938349 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun might occur, Total time : 1716.752 us (Expected < 1666.667 us) --> Read time : 186.740 us, Update time : 1091.559 us, Write time : 438.453 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 1716.752 us (Expected < 1666.667 us) --> Read time : 186.740 us, Update time : 1091.559 us, Write time : 438.453 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764183 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764183 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929199 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929199 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780950950.31922841 seconds ×3 + 3.17sWARNcontroller_managerOverrun might occur, Total time : 2984.572 us (Expected < 1666.667 us) --> Read time : 103.756 us, Update time : 2535.217 us, Write time : 345.599 us + 3.18sWARNros2_control_nodeOverrun might occur, Total time : 2984.572 us (Expected < 1666.667 us) --> Read time : 103.756 us, Update time : 2535.217 us, Write time : 345.599 us[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780950950.94431186 seconds. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.92sINFOros2_control_node[2026-06-08 20:35:51.087] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-08 20:35:51.087] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499637 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499637 ms (missed cycles : 4).[0m ×2 + 4.27sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 4.27sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2154.208 us (Expected < 1666.667 us) --> Read time : 173.370 us, Update time : 1547.974 us, Write time : 432.864 us + 4.56sWARNros2_control_nodeOverrun might occur, Total time : 2154.208 us (Expected < 1666.667 us) --> Read time : 173.370 us, Update time : 1547.974 us, Write time : 432.864 us[0m ×2 + 5.19sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×4 + 5.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.25sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148144 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148144 ms (missed cycles : 2).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1786.037 us (Expected < 1666.667 us) --> Read time : 124.117 us, Update time : 1363.374 us, Write time : 298.546 us + 6.04sWARNros2_control_nodeOverrun might occur, Total time : 1786.037 us (Expected < 1666.667 us) --> Read time : 124.117 us, Update time : 1363.374 us, Write time : 298.546 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391839 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391839 ms (missed cycles : 3).[0m ×2 + 7.15sWARNcontroller_managerOverrun might occur, Total time : 3950.073 us (Expected < 1666.667 us) --> Read time : 286.045 us, Update time : 3056.575 us, Write time : 607.453 us + 7.15sWARNros2_control_nodeOverrun might occur, Total time : 3950.073 us (Expected < 1666.667 us) --> Read time : 286.045 us, Update time : 3056.575 us, Write time : 607.453 us[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572171 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572171 ms (missed cycles : 3).[0m ×2 + 7.38sINFOjoint_trajectory_controllerReceived new action goal ×2795 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071476710837 + 7.38sINFOros2_control_nodeReceived new action goal[0m ×5590 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071476710837[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179222851110 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179222851110[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052168386274 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052168386274[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052372845847 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052372845847[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000518213546395 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000518213546395[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000518598856290 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000518598856290[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000277402651084 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000277402651084[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071065109576 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071065109576[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070942587924 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070942587924[0m ×2 + 7.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028682238623 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028682238623[0m ×2 + 7.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000430811999241 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000430811999241[0m ×2 + 7.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000601737579482 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000601737579482[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339037566514 + 7.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339037566514[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163425852489 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163425852489[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163653162351 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163653162351[0m ×2 + 7.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257604120261 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257604120261[0m ×2 + 7.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257636894005 + 7.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257636894005[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000590778583 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000590778583[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089181818142 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089181818142[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000411212908253 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000411212908253[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000505079880889 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000505079880889[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000568589635583 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000568589635583[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000811403789766 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000811403789766[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000223892679876 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000223892679876[0m ×2 + 7.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203218931603 + 7.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203218931603[0m ×2 + 7.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223664553809 + 7.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223664553809[0m ×2 + 7.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315491077610 + 7.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315491077610[0m ×2 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251756628035 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251756628035[0m ×2 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001554134753055 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001554134753055[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391730696220 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391730696220[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000979878668434 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000979878668434[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340934422872 ×2 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340934422872[0m ×4 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000562051289598 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000562051289598[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000728745663942 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000728745663942[0m ×2 + 7.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183582651197 + 7.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183582651197[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156367898282 ×2 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156367898282[0m ×4 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000334625663874 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000334625663874[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000334804300794 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000334804300794[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357895881931 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357895881931[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000512321224271 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000512321224271[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000392145791331 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000392145791331[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000287894152789 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000287894152789[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000287965688680 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000287965688680[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000366252257515 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000366252257515[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092659977425 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092659977425[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092534553810 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092534553810[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000636864163201 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000636864163201[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000449691048623 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000449691048623[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000157514451113 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000157514451113[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095911829430 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095911829430[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000575076145053 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000575076145053[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000882602144207 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000882602144207[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000388303612748 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000388303612748[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380203119103 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380203119103[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000774499627208 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000774499627208[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000800937644411 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000800937644411[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000399670524701 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000399670524701[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000143925455987 ×2 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000143925455987[0m ×4 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008940830899 ×2 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008940830899[0m ×4 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082376783815 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082376783815[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000406531904578 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000406531904578[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001163301729826 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001163301729826[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591432612181 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591432612181[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000570632474169 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000570632474169[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236165218584 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236165218584[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128524419212 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128524419212[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315729217322 ×2 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315729217322[0m ×4 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092067688075 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092067688075[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000189410534410 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000189410534410[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290574872395 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290574872395[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000340556522179 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000340556522179[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255046212322 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255046212322[0m ×2 + 7.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000346018537646 + 7.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000346018537646[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264895156609 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264895156609[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000792979691474 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000792979691474[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000819138623626 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000819138623626[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000930771642846 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000930771642846[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001145524684922 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001145524684922[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524901115139 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524901115139[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868944616788 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868944616788[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660620151596 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660620151596[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004936989704 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004936989704[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691424798456 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691424798456[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037307875301 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037307875301[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002201427566722 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002201427566722[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256440448153 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256440448153[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757018675089 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757018675089[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001418043179544 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001418043179544[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247067543579 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247067543579[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142979139548 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142979139548[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001082673973507 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001082673973507[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001053138181336 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001053138181336[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001406794975260 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001406794975260[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255112129551 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255112129551[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446997077171 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446997077171[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001274940468986 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001274940468986[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379069327670 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379069327670[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001219999549843 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001219999549843[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001324329678090 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001324329678090[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001197131522572 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001197131522572[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301799440524 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301799440524[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189403180814 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189403180814[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001124377683028 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001124377683028[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092096137111 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092096137111[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081358900313 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081358900313[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442310229271 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442310229271[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300408757025 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300408757025[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001406408693764 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001406408693764[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001275445114975 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001275445114975[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001381704958898 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001381704958898[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001259101324503 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001259101324503[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365623463510 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365623463510[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251280385173 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251280385173[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448564763839 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448564763839[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382087784934 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382087784934[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289098861206 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289098861206[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487739158185 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487739158185[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350734016145 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350734016145[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549845729246 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549845729246[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001444054667533 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001444054667533[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644058475201 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644058475201[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459129831877 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459129831877[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567625872093 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567625872093[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001402030983266 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001402030983266[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001296611203875 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001296611203875[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497988140068 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497988140068[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356289557439 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356289557439[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737559 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737559 ms (missed cycles : 2).[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558131182672 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558131182672[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391553948973 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391553948973[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001288816424609 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001288816424609[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001231200357397 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001231200357397[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203958301294 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203958301294[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580191166453 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580191166453[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423626160905 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423626160905[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001627720081624 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001627720081624[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448565856251 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448565856251[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559272806687 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559272806687[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001403259945517 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001403259945517[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001308626581772 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001308626581772[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001514079863917 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001514079863917[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001381335810198 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001381335810198[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001587238538423 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001587238538423[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001427234195369 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001427234195369[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633589068473 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633589068473[0m ×2 + 8.44sWARNcontroller_managerOverrun might occur, Total time : 1756.464 us (Expected < 1666.667 us) --> Read time : 114.636 us, Update time : 1353.703 us, Write time : 288.125 us + 8.44sWARNros2_control_nodeOverrun might occur, Total time : 1756.464 us (Expected < 1666.667 us) --> Read time : 114.636 us, Update time : 1353.703 us, Write time : 288.125 us[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454933932286 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454933932286[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455696176115 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455696176115[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382502369693 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382502369693[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939822804143 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939822804143[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939954341278 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939954341278[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001677865269714 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001677865269714[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790918452142 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790918452142[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001572134087125 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001572134087125[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781472317324 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781472317324[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559730114840 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001559730114840[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673269316420 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673269316420[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001551323093309 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001551323093309[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001761916855334 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001761916855334[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573793534225 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573793534225[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784815266536 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784815266536[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580650856944 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580650856944[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792109300995 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792109300995[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001579442146571 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001579442146571[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791338515442 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791338515442[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291250512075 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291250512075[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952651709213 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952651709213[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739555071862 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739555071862[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134460382418 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134460382418[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001831052725298 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001831052725298[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045212663053 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045212663053[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756412906492 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756412906492[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626947859982 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626947859982[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140550817622 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140550817622[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829131326850 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829131326850[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045266759913 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045266759913[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755037245586 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755037245586[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568798139704 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568798139704[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969675498835 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969675498835[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702394886143 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702394886143[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001535163815073 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001535163815073[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937564882776 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937564882776[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001684658895000 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001684658895000[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001528080047556 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001528080047556[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439013038243 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439013038243[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843635996694 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843635996694[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001642697116118 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001642697116118[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001862089707515 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001862089707515[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001653484097598 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001653484097598[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873276951685 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873276951685[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660000260739 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660000260739[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880192735761 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880192735761[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001664264057103 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001664264057103[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001532407570140 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001532407570140[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001940690591996 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001940690591996[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001399071001485 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001399071001485[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621030760311 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621030760311[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222631411553 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222631411553[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444919113904 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444919113904[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079359689118 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079359689118[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001826842240329 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001826842240329[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238945870983 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238945870983[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913939492714 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913939492714[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137359137490 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137359137490[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839076186918 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839076186918[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002062876678991 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002062876678991[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787207105219 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787207105219[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697239741930 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697239741930[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001922083080315 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001922083080315[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002390610821902 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002390610821902[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002426303881584 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002426303881584[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002044508154505 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002044508154505[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270078475241 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270078475241[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001930834600850 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001930834600850[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156784114401 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156784114401[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001852552798216 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001852552798216[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001733406865535 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001733406865535[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287774879870 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287774879870[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973917518483 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973917518483[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002426742292634 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002426742292634[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462880902988 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462880902988[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002067245525782 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002067245525782[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295615210285 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295615210285[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001950081072460 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001950081072460[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178814934856 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178814934856[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001872518051131 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001872518051131[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101610971077 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101610971077[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824549146690 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824549146690[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002248497074749 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002248497074749[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917576277269 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917576277269[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002147381385177 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002147381385177[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853676078635 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853676078635[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002341627935172 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002341627935172[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347418178796 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002347418178796[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001989932594487 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001989932594487[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220784269196 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220784269196[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906716175927 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906716175927[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137918859109 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137918859109[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001855763212169 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001855763212169[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283595261696 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283595261696[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948669920154 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948669920154[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464030891901 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464030891901[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696762767177 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696762767177[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348323764624 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348323764624[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778824493211 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778824493211[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736400274188 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736400274188[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002379094481239 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002379094481239[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772713604452 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772713604452[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007036988706 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007036988706[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461918766257 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461918766257[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771483279868 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771483279868[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840292079100 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840292079100[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002315730501904 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002315730501904[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002550994206997 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002550994206997[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119355565977 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119355565977[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002554644510415 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002554644510415[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002116827170630 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002116827170630[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352725680621 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352725680621[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988870000052 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988870000052[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425324142203 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425324142203[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037701105034 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037701105034[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495597436406 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495597436406[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001732885721594 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001732885721594[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397142736329 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397142736329[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808157730982 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808157730982[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003247490525179 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003247490525179[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627836349554 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627836349554[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865905617572 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865905617572[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353921850111 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353921850111[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794360505125 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794360505125[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002291536110191 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002291536110191[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002732519368814 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002732519368814[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241868165991 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241868165991[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683396790831 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683396790831[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220449 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220449 ms (missed cycles : 3).[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002205038582868 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002205038582868[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001918364092088 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001918364092088[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361402031855 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361402031855[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748254804608 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748254804608[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878150034454 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878150034454[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002370379532620 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002370379532620[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814407662123 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814407662123[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314295676575 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314295676575[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758846929527 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758846929527[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002269261851403 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002269261851403[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002714333832964 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002714333832964[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002235532607784 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002235532607784[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948382705862 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948382705862[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394890105101 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394890105101[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784972297090 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784972297090[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026848819273 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026848819273[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002297648415250 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002297648415250[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724803433693 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724803433693[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173083463545 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173083463545[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002565994114230 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002565994114230[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014757513056 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014757513056[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444263500471 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444263500471[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893508360015 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893508360015[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355650513609 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355650513609[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002805371502182 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002805371502182[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002164034965278 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002164034965278[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002996605186151 + 9.55sWARNcontroller_managerOverrun might occur, Total time : 2065.572 us (Expected < 1666.667 us) --> Read time : 1547.113 us, Update time : 96.826 us, Write time : 421.633 us + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002996605186151[0m ×2 + 9.55sWARNros2_control_nodeOverrun might occur, Total time : 2065.572 us (Expected < 1666.667 us) --> Read time : 1547.113 us, Update time : 96.826 us, Write time : 421.633 us[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446207557504 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446207557504[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797404418433 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797404418433[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312927555238 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312927555238[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764846456954 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764846456954[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995473938937 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995473938937[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997274829237 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997274829237[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428388950885 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428388950885[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881178718543 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881178718543[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348050027895 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348050027895[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801280925451 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801280925451[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295652953352 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295652953352[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749317290673 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749317290673[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263840418350 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263840418350[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676030218575 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676030218575[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152701907336 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152701907336[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659577554168 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659577554168[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115167730411 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115167730411[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265606185589 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265606185589[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002624705748596 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002624705748596[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081064464234 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081064464234[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490493481651 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490493481651[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947242783790 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947242783790[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113585971049 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113585971049[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002497713243408 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002497713243408[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955215522976 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955215522976[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002392560460889 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002392560460889[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759732704271 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759732704271[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007712534487 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007712534487[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158201363042 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158201363042[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002529157364439 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002529157364439[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988104560918 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988104560918[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002416195675633 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002416195675633[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779564891817 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779564891817[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002196680361153 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002196680361153[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698623332427 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698623332427[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549618480833 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549618480833[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828429362266 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828429362266[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289294732073 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289294732073[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359517899036 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359517899036[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834396432688 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834396432688[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002296511822999 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002296511822999[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795010835109 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795010835109[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649189299404 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649189299404[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637570399960 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637570399960[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594486917050 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594486917050[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667831793707 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667831793707[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861012715755 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861012715755[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324089787460 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324089787460[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351182816413 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351182816413[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361600365297 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361600365297[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636349028823 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636349028823[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003100240812815 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003100240812815[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196539758792 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196539758792[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003261259812010 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003261259812010[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003334858798336 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003334858798336[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621130651051 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621130651051[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085795759713 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085795759713[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191748984186 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191748984186[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327896355271 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327896355271[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619413382990 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619413382990[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002904562832272 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002904562832272[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369933917018 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369933917018[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390021013544 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390021013544[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403741629396 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403741629396[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814776134837 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814776134837[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676327921599 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676327921599[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003621845718986 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003621845718986[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758437198935 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758437198935[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649863799689 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649863799689[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671520957768 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671520957768[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575826596075 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575826596075[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597492648750 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597492648750[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516996776165 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516996776165[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538671495273 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538671495273[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472895260361 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472895260361[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512962375265 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512962375265[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002418494868182 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002418494868182[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811195814204 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811195814204[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675457315893 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675457315893[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613099824416 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613099824416[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866258641196 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866258641196[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712624081302 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712624081302[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786786682649 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786786682649[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643115059521 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643115059521[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829172315236 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829172315236[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691364949265 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691364949265[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586823580430 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586823580430[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511074418124 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511074418124[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764722630465 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764722630465[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616887474299 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616887474299[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754180590963 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754180590963[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601840951638 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601840951638[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676155312478 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676155312478[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003547162676583 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003547162676583[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684511793081 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684511793081[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550060492957 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550060492957[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687434108754 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687434108754[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550102350781 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550102350781[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463177657215 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463177657215[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717110855625 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717110855625[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570211289419 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570211289419[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707648960243 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707648960243[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562197852986 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562197852986[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699653457779 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699653457779[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555945957430 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555945957430[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693417671538 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693417671538[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551389599385 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551389599385[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003688875544248 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003688875544248[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548284825918 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548284825918[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799685333221 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799685333221[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002668133635545 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002668133635545[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387559010639 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387559010639[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525113839323 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525113839323[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185293850989 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185293850989[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899581 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899581 ms (missed cycles : 3).[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088627674821 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088627674821[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048724087425 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048724087425[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186284376445 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186284376445[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921609697318 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921609697318[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391262885503 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391262885503[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019670115748 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019670115748[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489234935281 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489234935281[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052354160028 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052354160028[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306424605340 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306424605340[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913946236274 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913946236274[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167984253619 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167984253619[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003813955914297 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003813955914297[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067959424299 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067959424299[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745044111448 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745044111448[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999010932189 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999010932189[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873041217105 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873041217105[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899396915598 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899396915598[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723120555721 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723120555721[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004589850280292 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004589850280292[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136631420118 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136631420118[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390364851264 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390364851264[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980075074104 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980075074104[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004448816488793 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004448816488793[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996955380051 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996955380051[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250544950048 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250544950048[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856583355362 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856583355362[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110106613586 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110106613586[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761461959551 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761461959551[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542008827968 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542008827968[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010256366033 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010256366033[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872479744682 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872479744682[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340486827395 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340486827395[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960800335920 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960800335920[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428614849648 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428614849648[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994237843728 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994237843728[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461855113914 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461855113914[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995607343006 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995607343006[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463021320852 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463021320852[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980250140751 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980250140751[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666587556343 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666587556343[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133662174774 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133662174774[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891848572784 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891848572784[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358605242965 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358605242965[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955362241095 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955362241095[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817400088609 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817400088609[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221598203837 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221598203837[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821938375499 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821938375499[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566841138491 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566841138491[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762644716468 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762644716468[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898960758030 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898960758030[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255721114403 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255721114403[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720964380186 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720964380186[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116994507752 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116994507752[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581963685119 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581963685119[0m ×2 + 10.72sWARNcontroller_managerOverrun might occur, Total time : 3615.505 us (Expected < 1666.667 us) --> Read time : 186.850 us, Update time : 3113.998 us, Write time : 314.657 us + 10.72sWARNros2_control_nodeOverrun might occur, Total time : 3615.505 us (Expected < 1666.667 us) --> Read time : 186.850 us, Update time : 3113.998 us, Write time : 314.657 us[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013417033396 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013417033396[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649507209115 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649507209115[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775407594071 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775407594071[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148238809632 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148238809632[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612069516185 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612069516185[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027604910898 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027604910898[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491132302341 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491132302341[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941747319338 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941747319338[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404965867009 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404965867009[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003882914904931 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003882914904931[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738276318594 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738276318594[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088673583768 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088673583768[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672938731845 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672938731845[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527133720835 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527133720835[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955083523225 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955083523225[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808512219701 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808512219701[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124914936567 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124914936567[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586349071773 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586349071773[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943152296431 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943152296431[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960544316724 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960544316724[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260914790648 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260914790648[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111082673740 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111082673740[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326629035243 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326629035243[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786259828951 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786259828951[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097791967548 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097791967548[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986446455510 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986446455510[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120778617740 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120778617740[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303257580611 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303257580611[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761610458754 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761610458754[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058026499227 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058026499227[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938420281394 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938420281394[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174286642792 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174286642792[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018842121370 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018842121370[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209863210489 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209863210489[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005053483149144 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005053483149144[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217399904302 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217399904302[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673434014837 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673434014837[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968469392386 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968469392386[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627613237023 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627613237023[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724941314067 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724941314067[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413675440054 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413675440054[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501199722302 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501199722302[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339026762683 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339026762683[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414659691902 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414659691902[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251446413335 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251446413335[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169051650335 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169051650335[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004360075951 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004360075951[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976838869983 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976838869983[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566174642456 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566174642456[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006398570920080 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006398570920080[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105531002154 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105531002154[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005936791745871 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005936791745871[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747161269525 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747161269525[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264719340383 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264719340383[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005713238420192 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005713238420192[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564688681192 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564688681192[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119446917271 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119446917271[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472529284191 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472529284191[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603299312549 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603299312549[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470620940457 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470620940457[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294857410825 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294857410825[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258318247773 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258318247773[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081376951393 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081376951393[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406400899846 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406400899846[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536565226212 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536565226212[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399960387688 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399960387688[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964715362371 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964715362371[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005407933989341 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005407933989341[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984029210433 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984029210433[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771638375429 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771638375429[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006279325045136 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006279325045136[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931814757397 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931814757397[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746133139482 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746133139482[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005820355156265 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005820355156265[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835204250122 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835204250122[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005872843811757 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005872843811757[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569731511446 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569731511446[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379721061447 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379721061447[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509324013969 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509324013969[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745979072547 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745979072547[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464634975802 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464634975802[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918928354229 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918928354229[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223370989635 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223370989635[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027363567830 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027363567830[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655084924591 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655084924591[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005457726003843 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005457726003843[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529442903214 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529442903214[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005564513258140 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005564513258140[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005798533827809 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005798533827809[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005720298845114 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005720298845114[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006220698247182 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006220698247182[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006231497419150 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006231497419150[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006476501914020 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006476501914020[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006544384998549 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006544384998549[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227381762065 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227381762065[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006458669279995 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006458669279995[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116744303948 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116744303948[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347499587955 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347499587955[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006003303975944 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006003303975944[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440611 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440611 ms (missed cycles : 2).[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006127891854523 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006127891854523[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833873480993 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833873480993[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630468445918 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630468445918[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053992308633 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053992308633[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756941727960 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756941727960[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005985567656525 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005985567656525[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005698823826009 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005698823826009[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005926905887968 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005926905887968[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005650488246381 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005650488246381[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006070940455326 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006070940455326[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005730140991529 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005730140991529[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005957096081861 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005957096081861[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646270406053 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646270406053[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006064629690395 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006064629690395[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005703760154338 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005703760154338[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006121035525001 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006121035525001[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726495629748 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726495629748[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005912717601192 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005912717601192[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668741251885 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668741251885[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490640910863 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490640910863[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006899263753870 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006899263753870[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006368835226912 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006368835226912[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909994499856 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909994499856[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585921074400 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585921074400[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365443984184 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365443984184[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006756313002505 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006756313002505[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006079853852167 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006079853852167[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006829858567856 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006829858567856[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081199806507 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081199806507[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006828861237602 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006828861237602[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041421593462 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041421593462[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006786726136921 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006786726136921[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982440561145 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982440561145[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006725378816589 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006725378816589[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005917771515268 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005917771515268[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006658336960614 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006658336960614[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005855047625803 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005855047625803[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006593235564827 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006593235564827[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695715409635 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695715409635[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006959687795727 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006959687795727[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008342511406219 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008342511406219[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008457868194299 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008457868194299[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007075596526502 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007075596526502[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007801339113045 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007801339113045[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006562159264057 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006562159264057[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007285428014546 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007285428014546[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006175678506598 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006175678506598[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006896482927702 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006896482927702[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005895375398733 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005895375398733[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007222777368842 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007222777368842[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074064566005 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074064566005[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789562237733 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789562237733[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777247544917 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777247544917[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007204210267405 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007204210267405[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006039508765962 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006039508765962[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007338712961391 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007338712961391[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545031239744 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545031239744[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227062651197 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227062651197[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006929346306976 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006929346306976[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805810242357 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805810242357[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007098925893696 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007098925893696[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893161583003 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893161583003[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007180959192416 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007180959192416[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922239216490 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922239216490[0m ×2 + 11.83sWARNcontroller_managerOverrun might occur, Total time : 5417.242 us (Expected < 1666.667 us) --> Read time : 205.631 us, Update time : 4765.617 us, Write time : 445.994 us + 11.83sWARNros2_control_nodeOverrun might occur, Total time : 5417.242 us (Expected < 1666.667 us) --> Read time : 205.631 us, Update time : 4765.617 us, Write time : 445.994 us[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007204699231793 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007204699231793[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649733902092 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649733902092[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006923814015252 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006923814015252[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007808982504215 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007808982504215[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006328860250291 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006328860250291[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007591400652283 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007591400652283[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006138450945133 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006138450945133[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007172305683860 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007172305683860[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007808572023858 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007808572023858[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008173131193933 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008173131193933[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006438281068383 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006438281068383[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007678657949339 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007678657949339[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006078244518761 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006078244518761[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006996389451994 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006996389451994[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007573370397055 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007573370397055[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234979774755 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234979774755[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006396752299502 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006396752299502[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120862451394 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120862451394[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007568806643997 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007568806643997[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008221078455676 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008221078455676[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008217296564704 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008217296564704[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008320059255090 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008320059255090[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008217065080538 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008217065080538[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008246996725505 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008246996725505[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008115231435169 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008115231435169[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008170241735601 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008170241735601[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008019699794612 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008019699794612[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008120795689008 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008120795689008[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007947846456411 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007947846456411[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008048382716076 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008048382716076[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007866640951760 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007866640951760[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008051384085537 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008051384085537[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007835980485546 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007835980485546[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704338802486 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704338802486[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005831750363232 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005831750363232[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010036103950187 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010036103950187[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010369499620968 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010369499620968[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009463565259512 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009463565259512[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010075889235962 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010075889235962[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009110360009265 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009110360009265[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008384783826045 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008384783826045[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009502497664415 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009502497664415[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008540572702762 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008540572702762[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009141134838329 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009141134838329[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234126623220 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234126623220[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007618332472074 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007618332472074[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007217577950177 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007217577950177[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009231325442223 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009231325442223[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008195571585924 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008195571585924[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008780401745611 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008780401745611[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007856392757745 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007856392757745[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008929885236078 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008929885236078[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006460350451367 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006460350451367[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009729385723759 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009729385723759[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011664810746922 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011664810746922[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011829565729626 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011829565729626[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009770114152742 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009770114152742[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010802810578052 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010802810578052[0m ×2 + 12.25sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126528 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126528 ms (missed cycles : 3).[0m ×2 + 13.09sWARNcontroller_managerOverrun might occur, Total time : 2066.021 us (Expected < 1666.667 us) --> Read time : 142.467 us, Update time : 1664.490 us, Write time : 259.064 us + 13.09sWARNros2_control_nodeOverrun might occur, Total time : 2066.021 us (Expected < 1666.667 us) --> Read time : 142.467 us, Update time : 1664.490 us, Write time : 259.064 us[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919093 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919093 ms (missed cycles : 3).[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001390332375 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001390332375[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001203669589 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001203669589[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000922069950 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000922069950[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000199193622503 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000199193622503[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039944478624 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039944478624[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128981618666 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128981618666[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086862884610 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086862884610[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049074374909 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049074374909[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010542141723 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010542141723[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005637874763 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005637874763[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001717901085 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001717901085[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002208440656 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002208440656[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074497502239 ×2 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074497502239[0m ×4 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044838455198 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044838455198[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023504505362 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023504505362[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039960654097 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039960654097[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111356982189 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111356982189[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000681021291623 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000681021291623[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709677349852 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709677349852[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000798929398913 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000798929398913[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003351007580 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003351007580[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045265395506 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045265395506[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235979718599 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235979718599[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000634114950700 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000634114950700[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638430339530 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638430339530[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874029938996 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874029938996[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000748281960156 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000748281960156[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725977755039 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725977755039[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001213474874174 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001213474874174[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782629218111 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782629218111[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511626954449 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511626954449[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675287173478 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675287173478[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001393036517700 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001393036517700[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268720463458 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268720463458[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000542826392477 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000542826392477[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360892606128 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360892606128[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436125585495 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436125585495[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744681807873 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744681807873[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666579636251 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666579636251[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841435252875 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841435252875[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689604318396 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689604318396[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000584243496566 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000584243496566[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061579553284 ×2 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061579553284[0m ×4 + 14.18sWARNcontroller_managerOverrun might occur, Total time : 8718.541 us (Expected < 1666.667 us) --> Read time : 173.070 us, Update time : 8070.046 us, Write time : 475.425 us + 14.18sWARNros2_control_nodeOverrun might occur, Total time : 8718.541 us (Expected < 1666.667 us) --> Read time : 173.070 us, Update time : 8070.046 us, Write time : 475.425 us[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000836516753294 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000836516753294[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170662385697 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170662385697[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161174433762 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161174433762[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000317796502400 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000317796502400[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000317255503551 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000317255503551[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001124048931667 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001124048931667[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223617794364 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223617794364[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000283810004130 ×2 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000283810004130[0m ×4 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000284764017787 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000284764017787[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000254638589748 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000254638589748[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000254775923327 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000254775923327[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011969156457 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011969156457[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000333113745772 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000333113745772[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162868076235 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162868076235[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162823207893 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162823207893[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069056913677 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069056913677[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286758392152 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286758392152[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001237049739196 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001237049739196[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001236906483191 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001236906483191[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692180498896 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692180498896[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765054624610 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765054624610[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919246801339 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919246801339[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019784378210 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019784378210[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006876986915810 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006876986915810[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699253649329 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699253649329[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769813954483 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769813954483[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001773119674718 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001773119674718[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340416265532 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340416265532[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299824215416 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299824215416[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000619281830671 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000619281830671[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000670946465329 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000670946465329[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000922326986269 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000922326986269[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532360403871 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532360403871[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002900718140636 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002900718140636[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624413078169 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624413078169[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001949646354609 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001949646354609[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497452750909 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497452750909[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400555544348 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400555544348[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059042412098 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059042412098[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120879307133 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120879307133[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056085157800 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056085157800[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565829312107 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565829312107[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985287480594 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985287480594[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849580788968 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849580788968[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385538834708 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002385538834708[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002371311174883 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002371311174883[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001540032950287 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001540032950287[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001990058842572 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001990058842572[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791521685790 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791521685790[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018213172333 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018213172333[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142266317407 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142266317407[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497363960470 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497363960470[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313731944961 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313731944961[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381278066744 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381278066744[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376060474302 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376060474302[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651751514978 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651751514978[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879935778827 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879935778827[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289022205332 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289022205332[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517769208962 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517769208962[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041380125630 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085966 ms (missed cycles : 2). + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041380125630[0m ×2 + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085966 ms (missed cycles : 2).[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747721323832 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747721323832[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582507795334 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582507795334[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502692070645 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502692070645[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931376676766 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931376676766[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725591712871 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725591712871[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609934763976 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609934763976[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038429631551 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038429631551[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797836240801 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797836240801[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224980004308 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224980004308[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002900497848603 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002900497848603[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130918074044 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130918074044[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834354851333 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834354851333[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017459024371 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017459024371[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810011536015 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810011536015[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002681635305643 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002681635305643[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461982320488 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461982320488[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061380082331 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061380082331[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288860152393 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288860152393[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936098693311 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936098693311[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716404823983 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716404823983[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138265440411 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138265440411[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837634771916 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837634771916[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064733574616 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064733574616[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789001580056 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789001580056[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991723160688 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991723160688[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217619533521 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217619533521[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934022414778 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934022414778[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352062290857 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352062290857[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997760341327 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997760341327[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769389293213 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769389293213[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187074292593 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187074292593[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120763268972 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120763268972[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866306368462 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866306368462[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019381590561 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019381590561[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003240954637305 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003240954637305[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960192836673 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960192836673[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003718520323027 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003718520323027[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215530849677 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215530849677[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002886816345876 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002886816345876[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297824758763 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297824758763[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925532154820 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925532154820[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336162296490 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336162296490[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937254533746 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937254533746[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693746442007 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693746442007[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105474525132 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105474525132[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798922917729 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798922917729[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210152756591 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210152756591[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859682588222 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859682588222[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003270383383043 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003270383383043[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890335665001 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890335665001[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663225906677 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663225906677[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074765293397 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074765293397[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779444544039 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779444544039[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003189656012062 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003189656012062[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587564068302 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587564068302[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829877683507 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829877683507[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229373647855 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229373647855[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556548191514 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556548191514[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097641244459 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097641244459[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839772654823 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839772654823[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239947036285 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239947036285[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416746883181 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416746883181[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677934270740 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677934270740[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881803730527 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881803730527[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513216167063 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513216167063[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662330179739 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662330179739[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056157686744 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056157686744[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003331921587143 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003331921587143[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545429908004 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545429908004[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620577160677 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620577160677[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089193594415 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089193594415[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486206056059 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486206056059[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020847402787 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020847402787[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756070889339 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756070889339[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166301642295 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166301642295[0m ×2 + 15.22sWARNcontroller_managerOverrun might occur, Total time : 7863.384 us (Expected < 1666.667 us) --> Read time : 201.001 us, Update time : 7237.120 us, Write time : 425.263 us + 15.22sWARNros2_control_nodeOverrun might occur, Total time : 7863.384 us (Expected < 1666.667 us) --> Read time : 201.001 us, Update time : 7237.120 us, Write time : 425.263 us[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839761815637 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839761815637[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002329525031595 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002329525031595[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602431429035 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602431429035[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991166570392 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991166570392[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418891883579 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418891883579[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139878579590 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139878579590[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456485840244 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456485840244[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003762991298 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003762991298[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728361470790 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728361470790[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149636231643 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149636231643[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540888177982 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540888177982[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018687711020 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018687711020[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701439383772 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701439383772[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428258782834 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428258782834[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952619522382 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952619522382[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791037794675 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791037794675[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225954278857 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225954278857[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002855384880372 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002855384880372[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590749002944 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590749002944[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003056728875653 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003056728875653[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448301922763 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448301922763[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949382248905 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949382248905[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651733837184 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651733837184[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668221096513 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668221096513[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090394385171 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090394385171[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736243305686 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736243305686[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452982554915 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452982554915[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963102843455 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963102843455[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667373392268 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667373392268[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655511361612 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655511361612[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097374250119 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097374250119[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481275496862 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481275496862[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977996089230 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977996089230[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821312071833 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821312071833[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853570146248 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853570146248[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186743512997 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186743512997[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777968341297 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777968341297[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690072208442 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690072208442[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088145719229 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088145719229[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723522248174 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723522248174[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660009830324 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660009830324[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861605489871 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861605489871[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201846608946 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201846608946[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576220562743 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576220562743[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009233268109 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009233268109[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003793186163134 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003793186163134[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794307978008 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794307978008[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130375856705 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130375856705[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734394816404 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734394816404[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430056243154 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430056243154[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506850161571 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506850161571[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619780723217 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619780723217[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296672093865 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296672093865[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003544785235516 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003544785235516[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134823804071 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134823804071[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331393221824 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331393221824[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482014528335 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482014528335[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028578184343 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028578184343[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665736 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665736 ms (missed cycles : 2).[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059618244325 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059618244325[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156773077689 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003156773077689[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827598466885 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827598466885[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002296051854509 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002296051854509[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094652636966 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094652636966[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285840474784 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285840474784[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817965479925 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817965479925[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397325692404 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397325692404[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549391762331 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549391762331[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177347978091 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177347978091[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833850963347 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833850963347[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840789185555 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840789185555[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500262196354 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500262196354[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574941937189 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574941937189[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986400817246 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986400817246[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734395068487 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734395068487[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165440112069 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165440112069[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347823258539 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347823258539[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005662290024 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005662290024[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231520200171 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231520200171[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891536705592 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891536705592[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149409493975 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149409493975[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709720443924 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709720443924[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357693783722 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357693783722[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870955740237 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870955740237[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003522553025752 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003522553025752[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031505005953 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031505005953[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003270203407315 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003270203407315[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921747477500 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921747477500[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226670627104 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226670627104[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382930735087 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382930735087[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043700490170 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043700490170[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237434425704 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237434425704[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896438439503 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896438439503[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133975536688 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133975536688[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813304651458 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813304651458[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599110539509 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599110539509[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040965636768 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040965636768[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385153185693 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385153185693[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477895808891 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477895808891[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942269062594 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942269062594[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280983499261 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280983499261[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367480211091 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367480211091[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002574763216 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002574763216[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185127445948 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185127445948[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730518308556 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730518308556[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071218853955 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071218853955[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230300365977 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230300365977[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865412947482 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865412947482[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006325396746 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006325396746[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170093545753 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170093545753[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318072320125 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318072320125[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816641056028 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816641056028[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152250153706 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285965679186 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152250153706[0m ×2 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285965679186[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835209986238 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835209986238[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504965709584 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504965709584[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927227156293 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927227156293[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169065078822 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169065078822[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497717357605 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497717357605[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501396173552 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501396173552[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873208679223 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873208679223[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202453669961 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202453669961[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294913611967 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294913611967[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739462490977 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739462490977[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067113042948 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067113042948[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204140959986 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204140959986[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816777986961 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816777986961[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037591928883 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037591928883[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169249848474 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169249848474[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779525374753 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779525374753[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995806457792 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995806457792[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092433534948 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092433534948[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212607462830 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212607462830[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692445340830 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692445340830[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016871621246 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016871621246[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133302131525 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133302131525[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386879477965 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386879477965[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505828404502 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505828404502[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918486790072 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918486790072[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122898803774 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122898803774[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063884051800 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063884051800[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724585221928 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724585221928[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812583597199 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812583597199[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076627278033 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076627278033[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133494774864 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133494774864[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889559644220 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889559644220[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020864229157 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020864229157[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595346571920 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595346571920[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629578694535 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629578694535[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709769444161 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709769444161[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796860051887 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796860051887[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196424209738 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196424209738[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761072764400 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761072764400[0m ×2 + 16.43sWARNcontroller_managerOverrun might occur, Total time : 3749.813 us (Expected < 1666.667 us) --> Read time : 127.537 us, Update time : 3205.363 us, Write time : 416.913 us + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849685636549 + 16.44sWARNros2_control_nodeOverrun might occur, Total time : 3749.813 us (Expected < 1666.667 us) --> Read time : 127.537 us, Update time : 3205.363 us, Write time : 416.913 us[0m ×2 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849685636549[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632751180970 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632751180970[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698946775876 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698946775876[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979844805320 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979844805320[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108003128842 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108003128842[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670685983799 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670685983799[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486283095268 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486283095268[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330749413644 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330749413644[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494212890882 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494212890882[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306852540132 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306852540132[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395056284279 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395056284279[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225764358958 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225764358958[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251527680024 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251527680024[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126034164478 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126034164478[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875938343636 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875938343636[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913154141850 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913154141850[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979706586037 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979706586037[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004011419130707 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004011419130707[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310770470500 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310770470500[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197740991546 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197740991546[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358956118856 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358956118856[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207150600252 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207150600252[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098519444637 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098519444637[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258877235486 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258877235486[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669263907499 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669263907499[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284784053611 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284784053611[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441579724174 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441579724174[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213069918497 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213069918497[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370787658846 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370787658846[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167765873215 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167765873215[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036698303317 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036698303317[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962845709596 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962845709596[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921476655635 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921476655635[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903460565575 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903460565575[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190572603452 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190572603452[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038797332418 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038797332418[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004194976604645 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004194976604645[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047664456156 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047664456156[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954496305912 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954496305912[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490058 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490058 ms (missed cycles : 2).[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893953201189 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893953201189[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855347223557 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855347223557[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829974540919 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829974540919[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812734867292 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812734867292[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336365212105 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336365212105[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113604816456 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113604816456[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965367421025 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965367421025[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484485571349 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484485571349[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179488598135 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179488598135[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330688714801 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330688714801[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070761253153 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070761253153[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904280965570 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904280965570[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371876820531 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371876820531[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031487838760 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031487838760[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003911202990942 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003911202990942[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854299417278 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854299417278[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804207281204 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804207281204[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383221268194 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383221268194[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101031011250 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101031011250[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609190357907 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609190357907[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219975426830 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219975426830[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969317891824 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969317891824[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812446230592 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812446230592[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316420023899 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316420023899[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024610589727 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024610589727[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525702661230 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525702661230[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141964490743 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141964490743[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898324424801 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898324424801[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281957384695 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281957384695[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897500045737 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897500045737[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748160529221 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748160529221[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005147969731296 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005147969731296[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222264996563 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222264996563[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498815094525 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498815094525[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758290303909 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758290303909[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851283847800 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851283847800[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004916308086606 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004916308086606[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418376664975 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418376664975[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054845485334 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054845485334[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004930413605021 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004930413605021[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333817725859 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333817725859[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941997022288 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941997022288[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809327080097 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809327080097[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218425749450 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218425749450[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684725302237 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684725302237[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335622151519 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335622151519[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766136199486 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766136199486[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115406275161 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115406275161[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767936969081 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767936969081[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615214428481 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615214428481[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081991279465 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081991279465[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538343232475 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538343232475[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021984639478 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021984639478[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698556984546 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698556984546[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536554176960 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536554176960[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008895232351 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008895232351[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055248825253 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055248825253[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876320564388 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876320564388[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239509077583 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239509077583[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055215277054 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055215277054[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313998648938 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313998648938[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752859272780 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752859272780[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099739866830 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099739866830[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686908395651 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686908395651[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493218677063 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493218677063[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924980905305 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924980905305[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724877456727 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724877456727[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056140281703 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056140281703[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948527969591 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948527969591[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678264201955 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678264201955[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987174147143 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987174147143[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765368180414 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765368180414[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098052743790 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098052743790[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995595690308 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995595690308[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005113839863668 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005113839863668[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509927836976 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509927836976[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896061125430 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896061125430[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691410880211 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691410880211[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310594775640 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310594775640[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372656265737 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372656265737[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127500711074 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127500711074[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254066957554 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254066957554[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009784248073 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009784248073[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156880368908 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156880368908[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875279735196 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875279735196[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989287270840 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989287270840[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004078897782559 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004078897782559[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478044414144 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478044414144[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787623509879 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787623509879[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638872475681 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638872475681[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026231716632 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026231716632[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116727547296 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116727547296[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515047183889 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515047183889[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820785864286 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820785864286[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004645799846234 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004645799846234[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026472098614 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026472098614[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094302627410 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094302627410[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750686694746 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750686694746[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854465581665 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854465581665[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502363591567 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502363591567[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191984276609 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191984276609[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210186263502 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210186263502[0m ×2 + 17.53sWARNcontroller_managerOverrun might occur, Total time : 2151.317 us (Expected < 1666.667 us) --> Read time : 1795.208 us, Update time : 73.254 us, Write time : 282.855 us + 17.53sWARNros2_control_nodeOverrun might occur, Total time : 2151.317 us (Expected < 1666.667 us) --> Read time : 1795.208 us, Update time : 73.254 us, Write time : 282.855 us[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192623695671 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192623695671[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034376075427 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034376075427[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641484209965 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641484209965[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883001790565 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883001790565[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761723416510 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761723416510[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005778575825565 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005778575825565[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531963490815 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531963490815[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212714249553 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212714249553[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148109242212 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148109242212[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608900421549 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608900421549[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966142186918 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966142186918[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031779371883 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031779371883[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040700487709 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040700487709[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982476721712 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982476721712[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902880176407 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902880176407[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779042667213 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779042667213[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340085268533 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340085268533[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005516239746274 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005516239746274[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005384861320950 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005384861320950[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727496466768 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727496466768[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005465620000712 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005465620000712[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230988686765 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230988686765[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870231489663 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870231489663[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865469654748 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865469654748[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049720874823 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049720874823[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927686731442 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927686731442[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585897 ms (missed cycles : 4). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585897 ms (missed cycles : 4).[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266805017245 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266805017245[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454193550319 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454193550319[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555884913326 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555884913326[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890409248742 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890409248742[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801560500876 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801560500876[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898959856795 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898959856795[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787205817140 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787205817140[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703046493478 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703046493478[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800207225060 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800207225060[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697727678098 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697727678098[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750242880827 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750242880827[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005157118771317 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005157118771317[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942475164798 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942475164798[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005039170584097 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005039170584097[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004842225516738 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004842225516738[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020667346204 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020667346204[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812597104387 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812597104387[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071579580725 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071579580725[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167813418274 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167813418274[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004936224501713 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004936224501713[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264267715868 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264267715868[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968141776815 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968141776815[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756947380237 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756947380237[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084016385072 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084016385072[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816375094112 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816375094112[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634571298346 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634571298346[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515913339008 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515913339008[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441662153050 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441662153050[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397243421054 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397243421054[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997132248545 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997132248545[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746930754867 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746930754867[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345651120840 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345651120840[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950252536997 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950252536997[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680999295190 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680999295190[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277571160679 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277571160679[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004877828432278 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004877828432278[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200018085732 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200018085732[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813146001546 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813146001546[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559672777939 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559672777939[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401462564855 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401462564855[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308333316778 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308333316778[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257533037501 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257533037501[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941051621149 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941051621149[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005288511773510 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005288511773510[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606457524614 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606457524614[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005035494639917 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005035494639917[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005621712504677 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005621712504677[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018169835348 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018169835348[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618961743755 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618961743755[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005697590826382 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005697590826382[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040140367278 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040140367278[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607950216736 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607950216736[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338054815875 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338054815875[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005409657241028 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005409657241028[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847813972846 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847813972846[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481537335415 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481537335415[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789133659609 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789133659609[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656069315743 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656069315743[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006799797199124 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006799797199124[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007370997143734 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007370997143734[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143179724575 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143179724575[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712835590098 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712835590098[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162630282137 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162630282137[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742637377493 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742637377493[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712894008851 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712894008851[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007275715779625 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007275715779625[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979500895445 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979500895445[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710871106294 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710871106294[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006874587825440 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006874587825440[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611167929892 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611167929892[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168745800293 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168745800293[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119929549920 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119929549920[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006054390029054 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006054390029054[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037674974980 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037674974980[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058415869727 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058415869727[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020156671196 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020156671196[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951010073527 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951010073527[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006499374029676 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006499374029676[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290577461405 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290577461405[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006300932266910 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006300932266910[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133643569309 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133643569309[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005962723802124 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005962723802124[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006505154963798 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006505154963798[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251434671852 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251434671852[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006250620823574 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006250620823574[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623468654089 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623468654089[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616781262171 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616781262171[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005768312299280 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005768312299280[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006462988491976 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006462988491976[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008281243084275 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008281243084275[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006425067924153 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006425067924153[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007404217054420 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007404217054420[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007298718135928 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007298718135928[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005634934438903 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005634934438903[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006605812546948 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006605812546948[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006670177728148 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006670177728148[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006952962211178 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006952962211178[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733211221521 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733211221521[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005524236348612 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005524236348612[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007290409375562 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007290409375562[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007117700053390 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007117700053390[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007395649857565 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007395649857565[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007113849030321 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007113849030321[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007263462391611 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007263462391611[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007485082492975 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007485082492975[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007123350356601 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007123350356601[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833552141118 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833552141118[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006608432171323 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006608432171323[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006437127248434 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006437127248434[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007354995561244 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007354995561244[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006875074607913 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006875074607913[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006531228279156 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006531228279156[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007022377482817 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007022377482817[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595832283421 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595832283421[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006304008215627 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006304008215627[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007201882458898 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007201882458898[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006661079258409 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006661079258409[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007143856808164 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007143856808164[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006589783041400 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006589783041400[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006218083272831 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006218083272831[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007100361879808 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007100361879808[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006519880071418 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006519880071418[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007394981556518 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007394981556518[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006669911787678 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006669911787678[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006186841374726 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006186841374726[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007786787821752 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007786787821752[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833449602395 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833449602395[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006221248688971 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006221248688971[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006279959978202 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006279959978202[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008425059948378 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008425059948378[0m ×2 + 18.72sWARNcontroller_managerOverrun might occur, Total time : 1740.183 us (Expected < 1666.667 us) --> Read time : 118.266 us, Update time : 78.184 us, Write time : 1543.733 us + 18.73sWARNros2_control_nodeOverrun might occur, Total time : 1740.183 us (Expected < 1666.667 us) --> Read time : 118.266 us, Update time : 78.184 us, Write time : 1543.733 us[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063226 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063226 ms (missed cycles : 2).[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007262769527975 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007262769527975[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263532319589 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263532319589[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007785476433563 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007785476433563[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009296824711946 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009296824711946[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010199424518244 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010199424518244[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008233310832297 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008233310832297[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009718402032486 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009718402032486[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007776005715347 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007776005715347[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009247935247544 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009247935247544[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007367322041994 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007367322041994[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008413555291195 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008413555291195[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009195774469686 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009195774469686[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007235115099549 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007235115099549[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008669420948377 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008669420948377[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006837446311946 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006837446311946[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330794559194 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330794559194[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006442829795000 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006442829795000[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006662714626860 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006662714626860[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008054556095620 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008054556095620[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008815536506843 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008815536506843[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011327266739142 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011327266739142[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010671733821042 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010671733821042[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010786561354826 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010786561354826[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010116884508789 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010116884508789[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009536970121089 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009536970121089[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009920482336868 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009920482336868[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009288284813370 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009288284813370[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008798151765078 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008798151765078[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008426686725999 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008426686725999[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008148998091125 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008148998091125[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009400701722195 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009400701722195[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008696748424302 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008696748424302[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008193206430045 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008193206430045[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009416041568907 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009416041568907[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008632631477027 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008632631477027[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009839393078597 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009839393078597[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008761895088263 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008761895088263[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008518291605870 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008518291605870[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011330253451681 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011330253451681[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012475308196403 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012475308196403[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010277323787159 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010277323787159[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011996085747952 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011996085747952[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009666541962326 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009666541962326[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011255275052674 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011255275052674[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011835720268619 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011835720268619[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009344977286176 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009344977286176[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010736599923234 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010736599923234[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011773720890582 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011773720890582[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009124514373605 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009124514373605[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010337762078975 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010337762078975[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010990949026059 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010990949026059[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011971403587601 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011971403587601[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007902263017122 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007902263017122[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011167614107477 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011167614107477[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011231872624449 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011231872624449[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011088238732103 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011088238732103[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012767741722573 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012767741722573[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011822684034254 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011822684034254[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011028867321456 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011028867321456[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012632194960752 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012632194960752[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011329001523509 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011329001523509[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012877290542173 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012877290542173[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011431062076250 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011431062076250[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010245358533504 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010245358533504[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005822346331343 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005822346331343[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006855838158340 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006855838158340[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007521903560567 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007521903560567[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012282425448710 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012282425448710[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010718462830008 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010718462830008[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009534881331123 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009534881331123[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014016644737647 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014016644737647[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011314714335413 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011314714335413[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009418496604964 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009418496604964[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008124625063845 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008124625063845[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012239250950924 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012239250950924[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009728282102605 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009728282102605[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830226 ms (missed cycles : 5). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830226 ms (missed cycles : 5).[0m ×2 + 19.78sWARNcontroller_managerOverrun might occur, Total time : 6099.719 us (Expected < 1666.667 us) --> Read time : 138.908 us, Update time : 5515.077 us, Write time : 445.734 us + 19.78sWARNros2_control_nodeOverrun might occur, Total time : 6099.719 us (Expected < 1666.667 us) --> Read time : 138.908 us, Update time : 5515.077 us, Write time : 445.734 us[0m ×2 + 19.84sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×6 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870126 ms (missed cycles : 4). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870126 ms (missed cycles : 4).[0m ×2 + 20.94sWARNcontroller_managerOverrun might occur, Total time : 6646.199 us (Expected < 1666.667 us) --> Read time : 106.106 us, Update time : 6121.290 us, Write time : 418.803 us + 20.94sWARNros2_control_nodeOverrun might occur, Total time : 6646.199 us (Expected < 1666.667 us) --> Read time : 106.106 us, Update time : 6121.290 us, Write time : 418.803 us[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000404331237284 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000404331237284[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243053100508 ×2 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243053100508[0m ×4 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007247753294610 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007247753294610[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007247644252765 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007247644252765[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251094059429 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251094059429[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000748769292713 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000748769292713[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162893711407 ×2 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162893711407[0m ×4 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813626272258 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813626272258[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834914565673 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834914565673[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000260655850179 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000260655850179[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123781793297 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123781793297[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000825457696155 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000825457696155[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000410172822677 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000410172822677[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042841822841410 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042841822841410[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025804767938738 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025804767938738[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014053897186712 ×2 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014053897186712[0m ×4 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008032470205061 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008032470205061[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693232393965 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693232393965[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000289464053849 ×2 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000289464053849[0m ×4 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016040605078705 ×2 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016040605078705[0m ×4 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008462173585137 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008462173585137[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480326024002 ×2 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480326024002[0m ×4 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000508622175381 ×2 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000508622175381[0m ×4 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001089536468927 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001089536468927[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001796831655550 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001796831655550[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027774916811216 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027774916811216[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016926675650719 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016926675650719[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022436754195687 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022436754195687[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013065686875245 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013065686875245[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013065612508254 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013065612508254[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017875132298899 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017875132298899[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018404469509040 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018404469509040[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008944705144847 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008944705144847[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042005267090 ×2 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042005267090[0m ×4 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020915264178176 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020915264178176[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039184048351605 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039184048351605[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021913152614531 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021913152614531[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010933508755839 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010933508755839[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012343861400359 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012343861400359[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012411459290993 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012411459290993[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009017735563688 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009017735563688[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017421686820801 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017421686820801[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019425213163214 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019425213163214[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009299370239892 ×2 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009299370239892[0m ×4 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823988 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823988 ms (missed cycles : 2).[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001075537258732 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001075537258732[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000961479222495 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000961479222495[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001943379296979 ×2 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001943379296979[0m ×4 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945999791318 ×2 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945999791318[0m ×4 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000188346771446 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000188346771446[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000206474499770 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000206474499770[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022381375279693 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022381375279693[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014602400461916 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014602400461916[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014998944948299 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014998944948299[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017893787184718 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017893787184718[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011357832665768 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011357832665768[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014004516932993 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014004516932993[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007503071254058 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007503071254058[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007507637675394 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007507637675394[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007158735552272 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007158735552272[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007158766821848 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007158766821848[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837642406264 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837642406264[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274996788956 ×2 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274996788956[0m ×4 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001263998646464 ×2 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001263998646464[0m ×4 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001715451185933 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001715451185933[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002845105722746 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002845105722746[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907537158047 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907537158047[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830951862208 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830951862208[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480712401618 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480712401618[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780588307884 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780588307884[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056913221852 ×2 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056913221852[0m ×4 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303970377657 ×2 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303970377657[0m ×4 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001507575021423 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001507575021423[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001507482336343 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001507482336343[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000406535829805 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000406535829805[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012055894656567 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012055894656567[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012095164041326 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012095164041326[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007073892884170 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007073892884170[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007107954156892 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007107954156892[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578497609041 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578497609041[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034842981494158 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034842981494158[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010908585207010 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010908585207010[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010908316427467 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010908316427467[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521487864088 ×2 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521487864088[0m ×4 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000852813990192 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000852813990192[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019942882277852 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019942882277852[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019331819102749 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019331819102749[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018831445327999 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018831445327999[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020961014060162 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020961014060162[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010850985944880 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010850985944880[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010851276593827 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010851276593827[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353054589248 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353054589248[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022532318328512 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022532318328512[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012798421557043 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012798421557043[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010962507968185 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010962507968185[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021364275099907 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021364275099907[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010597166948283 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010597166948283[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010587789642434 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010587789642434[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803660475459 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803660475459[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231767243221 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231767243221[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174622145525 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174622145525[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001008623994762 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001008623994762[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001008858192731 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001008858192731[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002320114037487 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002320114037487[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002395473770834 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002395473770834[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001732557725971 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001732557725971[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001944374518675 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001944374518675[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001863425026470 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001863425026470[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001555445126159 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001555445126159[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001260736728148 ×2 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001260736728148[0m ×4 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001064605356178 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001064605356178[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000269670867046 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000269670867046[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027626352851 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027626352851[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000108233352828 ×2 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000108233352828[0m ×4 + 22.52sWARNcontroller_managerOverrun might occur, Total time : 3944.443 us (Expected < 1666.667 us) --> Read time : 160.628 us, Update time : 3497.689 us, Write time : 286.126 us + 22.52sWARNros2_control_nodeOverrun might occur, Total time : 3944.443 us (Expected < 1666.667 us) --> Read time : 160.628 us, Update time : 3497.689 us, Write time : 286.126 us[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166410471777 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166410471777[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241358751351 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241358751351[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000208931794140 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000208931794140[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000444701073304 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000444701073304[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436152988335 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436152988335[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420695392335 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420695392335[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001872140768594 ×2 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001872140768594[0m ×4 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000674760300805 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000674760300805[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002996957629309 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002996957629309[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439338840554 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439338840554[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000441197811774 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000441197811774[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000441473538705 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000441473538705[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246347675609 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246347675609[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088654691176 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088654691176[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934135061269 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934135061269[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001029629022549 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001029629022549[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000870537271128 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000870537271128[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000776872044874 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000776872044874[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000776879388547 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000776879388547[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000700489451647 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000700489451647[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000485023192351 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000485023192351[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000485076583274 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000485076583274[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000403941833189 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000403941833189[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018563722520 ×2 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018563722520[0m ×4 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006425832821 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006425832821[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002180445122177 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002180445122177[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312628280645 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312628280645[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312797943696 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312797943696[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000715261098291 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000715261098291[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007380854914980 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007380854914980[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263083559290 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263083559290[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240502628001 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240502628001[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000245385737079 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000245385737079[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000844893836607 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000844893836607[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814116298138 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814116298138[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096348528321 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096348528321[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000426962915388 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000426962915388[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000381678495981 ×2 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000381678495981[0m ×4 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315443867776 ×2 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315443867776[0m ×4 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075768045565 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075768045565[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077068717547 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077068717547[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077242359548 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077242359548[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232825774612 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232825774612[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001928465394238 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001928465394238[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001034891345797 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001034891345797[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001034818624248 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001034818624248[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000455394038040 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000455394038040[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104085624057 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104085624057[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000703339566 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000703339566[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000970235886 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000970235886[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000362920478991 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000362920478991[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000363202619485 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000363202619485[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083889636380 ×2 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083889636380[0m ×4 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899901 ms (missed cycles : 2). + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069356660672 + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899901 ms (missed cycles : 2).[0m ×2 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069356660672[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099707803319 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099707803319[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000264362508804 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000264362508804[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232081735225 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232081735225[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110513452681 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110513452681[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052455717011 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052455717011[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052822844127 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052822844127[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714250201067 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714250201067[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225392189643 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225392189643[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186852454885 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186852454885[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052330187285 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052330187285[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233136407872 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233136407872[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753028917071 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753028917071[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004062511946424 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004062511946424[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169323511175 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169323511175[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000943396705824 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000943396705824[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944047239809 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944047239809[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000200833246089 ×2 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000200833246089[0m ×4 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156893677775 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156893677775[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000483748742248 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000483748742248[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000616054787920 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000616054787920[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000528623548050 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000528623548050[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000424177993431 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000424177993431[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000322516644806 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000322516644806[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232967315860 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232967315860[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002556827339689 ×2 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002556827339689[0m ×4 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522802486604 ×2 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522802486604[0m ×4 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820490908479 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820490908479[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001521783858724 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001521783858724[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105123386735 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105123386735[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549595381826 ×2 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549595381826[0m ×4 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008233308618888 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008233308618888[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008254664186812 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008254664186812[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521163048336 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521163048336[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074815711800 ×2 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074815711800[0m ×4 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000570071357658 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000570071357658[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000569900794539 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000569900794539[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278079278527 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278079278527[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278249249797 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278249249797[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000689541035871 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000689541035871[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885715038542 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885715038542[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885670278627 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885670278627[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001252864846407 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001252864846407[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000545809663900 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000545809663900[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332943167946 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332943167946[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548952201341 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548952201341[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859729053372 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859729053372[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077347962397 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077347962397[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077346639129 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077346639129[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475828381042 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475828381042[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443025489189 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443025489189[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000442971248246 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000442971248246[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212039908260 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212039908260[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175635308821 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175635308821[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534406167884 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534406167884[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000708819114026 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000708819114026[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184371048243 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184371048243[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002120128750775 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002120128750775[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652415877201 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652415877201[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573363532132 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573363532132[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923369680941 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923369680941[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866729146903 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866729146903[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001264615464988 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001264615464988[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001252791938106 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001252791938106[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302393181420 ×2 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302393181420[0m ×4 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459436841134 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459436841134[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000830069866685 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000830069866685[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003307360704143 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003307360704143[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793875929512 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793875929512[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793660327950 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793660327950[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247192082422 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247192082422[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001578505793048 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001578505793048[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782940370705 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782940370705[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710620110652 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710620110652[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710215687006 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710215687006[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884772233628 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884772233628[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217876078932 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217876078932[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121536086300 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121536086300[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928874244481 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928874244481[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871505428164 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871505428164[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170215040959 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170215040959[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222599749161 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222599749161[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046307835985 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046307835985[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777693574505 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777693574505[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005690407788934 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005690407788934[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005651936729440 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005651936729440[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194102824796 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194102824796[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136628963839 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136628963839[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443783520770 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443783520770[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000235495026601 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000235495026601[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310977401554 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310977401554[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001642356100306 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001642356100306[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000577488528297 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000577488528297[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000723754896764 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000723754896764[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001704459598975 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001704459598975[0m ×2 + 23.75sWARNcontroller_managerOverrun might occur, Total time : 1878.262 us (Expected < 1666.667 us) --> Read time : 955.122 us, Update time : 209.291 us, Write time : 713.849 us + 23.75sWARNros2_control_nodeOverrun might occur, Total time : 1878.262 us (Expected < 1666.667 us) --> Read time : 955.122 us, Update time : 209.291 us, Write time : 713.849 us[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001852298114733 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001852298114733[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001469475869926 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001469475869926[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002187210743249 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002187210743249[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426555758984 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426555758984[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003488075964832 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003488075964832[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030068664431 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030068664431[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066962919817 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066962919817[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210120822694 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210120822694[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003008927700820 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003008927700820[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326324084366 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326324084366[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326391970865 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326391970865[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000663230775581 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000663230775581[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000552476970354 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000552476970354[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246171572340 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246171572340[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000499599532928 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000499599532928[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000562038459210 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000562038459210[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081783991004 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081783991004[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544744221990 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544744221990[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524954831833 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524954831833[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001153513182997 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001153513182997[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002887609539044 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002887609539044[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897398996726 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897398996726[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001320836911487 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001320836911487[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001928333987010 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001928333987010[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002941822817472 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002941822817472[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669442115689 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669442115689[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964284718120 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964284718120[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349802643717 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349802643717[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933844409617 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933844409617[0m ×2 + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843939 ms (missed cycles : 2). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843939 ms (missed cycles : 2).[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000202912383035 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000202912383035[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000397945765663 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000397945765663[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000623240923912 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000623240923912[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000623510933483 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000623510933483[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000680985929651 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000680985929651[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000652419351676 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000652419351676[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000444654083432 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000444654083432[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836984816983 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836984816983[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404735983606 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404735983606[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001667044662847 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001667044662847[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508076643128 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508076643128[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975205564562 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975205564562[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069247080073 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069247080073[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604747289015 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604747289015[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801297410832 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801297410832[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199754320526 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199754320526[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829037918507 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829037918507[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154851268487 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154851268487[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002154412620764 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002154412620764[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975654774175 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975654774175[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975625893738 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975625893738[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001971705087885 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001971705087885[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002626502334687 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002626502334687[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002266824350341 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002266824350341[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670751305197 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670751305197[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313738946138 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313738946138[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947278062339 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947278062339[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720851590499 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720851590499[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169899288061 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169899288061[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699219896554 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699219896554[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001243899236175 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001243899236175[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169419701385 ×2 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169419701385[0m ×4 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282576146351 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282576146351[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724219423798 ×2 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724219423798[0m ×4 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653527479350 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653527479350[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470746033992 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470746033992[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001150927985294 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001150927985294[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925077672928 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925077672928[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001183997933410 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001183997933410[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000697758534406 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000697758534406[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000906762230366 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000906762230366[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533907774740 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533907774740[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448021705510 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448021705510[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000689647384030 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000689647384030[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001581432972382 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001581432972382[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059485131759 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059485131759[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432035448585 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432035448585[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611395782242 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611395782242[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135427841261 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135427841261[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297509493603 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297509493603[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791542303941 ×2 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791542303941[0m ×4 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214850539217 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214850539217[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825043360235 ×2 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825043360235[0m ×4 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529446109729 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529446109729[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005621052494342 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005621052494342[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006077027308072 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006077027308072[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046252392906 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046252392906[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046266504932 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046266504932[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001754711000499 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001754711000499[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350843964441 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350843964441[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335591924416 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335591924416[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956119229655 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956119229655[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002164067974117 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002164067974117[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001562653019793 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001562653019793[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186760298401 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186760298401[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054643471721 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054643471721[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000412050011394 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000412050011394[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265859613528 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265859613528[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424912964364 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424912964364[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000248787678265 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000248787678265[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119172794451 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119172794451[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000397717552926 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000397717552926[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000832306648530 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000832306648530[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002576677476937 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002576677476937[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251804196440 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251804196440[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002695512953096 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002695512953096[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875566226432 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875566226432[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177621962957 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177621962957[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001890144947081 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001890144947081[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583550637499 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583550637499[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002438886483180 ×2 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002438886483180[0m ×4 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137847476920 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137847476920[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000315490091697 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000315490091697[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101349168053 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101349168053[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001871800336391 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001871800336391[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680883836693 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680883836693[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000775899129873 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000775899129873[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357742647630 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357742647630[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625845309959 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625845309959[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001343689446820 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001343689446820[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830096597715 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830096597715[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862159633405 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862159633405[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621274240517 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621274240517[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137467083115 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137467083115[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000409638577547 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000409638577547[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326243838005 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326243838005[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340292811026 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340292811026[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409050335131 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409050335131[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003024950407517 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003024950407517[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806331856845 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806331856845[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623852234264 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623852234264[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177443635591 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177443635591[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689793068485 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689793068485[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515075973461 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515075973461[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144860880040 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144860880040[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795911805106 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795911805106[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820074074312 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820074074312[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273762775157 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273762775157[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002034600665343 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002034600665343[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937876855743 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937876855743[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575866706628 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575866706628[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002550757381971 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002550757381971[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832060415143 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832060415143[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006107395366002 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006107395366002[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006090897628634 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006090897628634[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333514279001 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333514279001[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365481568879 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365481568879[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000904497290989 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000904497290989[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047062174741 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047062174741[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139288246981 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139288246981[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189992563810 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189992563810[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002790153509632 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002790153509632[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001235837154745 ×2 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001235837154745[0m ×4 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293297645050 ×2 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293297645050[0m ×4 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009724344101 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009724344101[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699072652361 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699072652361[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005128302725905 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005128302725905[0m ×2 + 25.02sWARNcontroller_managerOverrun might occur, Total time : 5564.451 us (Expected < 1666.667 us) --> Read time : 147.228 us, Update time : 4257.220 us, Write time : 1160.003 us + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.098140 ms (missed cycles : 4). + 25.03sWARNros2_control_nodeOverrun might occur, Total time : 5564.451 us (Expected < 1666.667 us) --> Read time : 147.228 us, Update time : 4257.220 us, Write time : 1160.003 us[0m ×2 + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.098140 ms (missed cycles : 4).[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005615101737753 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005615101737753[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002115658921366 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002115658921366[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000795986471065 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000795986471065[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026172954577 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026172954577[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026023345021 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026023345021[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995068383751 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995068383751[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639432801674 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639432801674[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824345613502 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824345613502[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438334641233 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438334641233[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001806476917280 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001806476917280[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002406982843329 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002406982843329[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393985317171 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393985317171[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002927975683019 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002927975683019[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001431687843909 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001431687843909[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530823553265 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530823553265[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901969539523 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901969539523[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474619115426 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474619115426[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474757539926 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474757539926[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472083897569 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472083897569[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222052343203 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222052343203[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000640742670032 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000640742670032[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052186600443 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052186600443[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908708002844 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908708002844[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962246249741 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962246249741[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582162519107 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582162519107[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742777816809 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742777816809[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744490506220 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744490506220[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744506379192 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744506379192[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336283327276 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336283327276[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247599506756 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247599506756[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000920978439342 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000920978439342[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000342418647025 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000342418647025[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311196214577 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311196214577[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001089249537455 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001089249537455[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223587023709 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223587023709[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502951051232 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502951051232[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499462530072 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499462530072[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000744663507723 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000744663507723[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000786100689854 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000786100689854[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401466326212 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401466326212[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220833347772 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220833347772[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246556324799 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246556324799[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527770954324 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527770954324[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336616151423 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336616151423[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762938327954 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762938327954[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005843108559747 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005843108559747[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005796144676297 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005796144676297[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005771651078443 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005771651078443[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713206724896 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713206724896[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443258618096 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443258618096[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201067599978 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201067599978[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733000563537 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733000563537[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031762370928 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031762370928[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387852301409 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387852301409[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748982033180 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748982033180[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968988324207 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968988324207[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001452855715134 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001452855715134[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001452972534232 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001452972534232[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000539272166499 ×2 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000539272166499[0m ×4 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038299008110 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038299008110[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630632257778 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630632257778[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617610310392 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617610310392[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783105754192 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783105754192[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415518966271 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415518966271[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000686561701187 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000686561701187[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236092288241 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236092288241[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235936427983 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235936427983[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653949971487 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653949971487[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450461762848 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450461762848[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995793007316 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995793007316[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074419629085 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074419629085[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435968823054 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435968823054[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436020194260 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000436020194260[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000373983225954 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000373983225954[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000702191646973 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000702191646973[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220327581106 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220327581106[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015279486359 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015279486359[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015348729772 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015348729772[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336909619825 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336909619825[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333743082124 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333743082124[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001346111900347 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001346111900347[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682186703946 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682186703946[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000676682775880 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000676682775880[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972658332729 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972658332729[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001069086327595 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001069086327595[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400146667378 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400146667378[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066164426917 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066164426917[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249028453354 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249028453354[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902110035158 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902110035158[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479031556540 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479031556540[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846647401519 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846647401519[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070300300716 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070300300716[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000897417694626 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000897417694626[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000928851484046 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000928851484046[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352453261942 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352453261942[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008410890051 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008410890051[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122580879557 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122580879557[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533474866838 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533474866838[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001425107104586 ×2 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001425107104586[0m ×4 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638350343773 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638350343773[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697042842113 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697042842113[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715969355695 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715969355695[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000773378271070 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000773378271070[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771737171969 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771737171969[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593593730245 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593593730245[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001561665501580 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001561665501580[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000765316951304 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000765316951304[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174029532534 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174029532534[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230505459491 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230505459491[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088683559822 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088683559822[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000765334490327 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000765334490327[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377777792830 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377777792830[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476464195436 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476464195436[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004937600035307 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004937600035307[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764440666446 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764440666446[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058990525655 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058990525655[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712220012820 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712220012820[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000806070061902 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000806070061902[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001024865396925 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001024865396925[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001235624884115 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001235624884115[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000451601969301 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000451601969301[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000444684380310 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000444684380310[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298967378747 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001298967378747[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002209485045754 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002209485045754[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981165502632 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981165502632[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264995558746 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264995558746[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629642086055 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629642086055[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003828179749648 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003828179749648[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859356257932 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859356257932[0m ×2 + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101804 ms (missed cycles : 3). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101804 ms (missed cycles : 3).[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000846129204304 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000846129204304[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351019926501 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351019926501[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351108860617 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351108860617[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001116377593582 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001116377593582[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091459492842 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091459492842[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239317259997 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239317259997[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002095603657638 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002095603657638[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519433459123 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519433459123[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001349294406360 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001349294406360[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000705819393095 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000705819393095[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802652568850 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802652568850[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003012282394877 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003012282394877[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001599653795995 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001599653795995[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419275352299 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419275352299[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005433411683 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005433411683[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866199973669 ×2 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866199973669[0m ×4 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459359331715 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459359331715[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714869053681 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714869053681[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000730584876754 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000730584876754[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144354186497 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144354186497[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144338226115 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144338226115[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001732940575423 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001732940575423[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002011370524110 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002011370524110[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813166507701 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813166507701[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264445217589 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264445217589[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213673396582 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213673396582[0m ×2 + 26.25sWARNcontroller_managerOverrun might occur, Total time : 3185.110 us (Expected < 1666.667 us) --> Read time : 181.759 us, Update time : 222.081 us, Write time : 2781.270 us + 26.25sWARNros2_control_nodeOverrun might occur, Total time : 3185.110 us (Expected < 1666.667 us) --> Read time : 181.759 us, Update time : 222.081 us, Write time : 2781.270 us[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002702308650421 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002702308650421[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999527651773 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999527651773[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937731056540 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937731056540[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001539965885626 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001539965885626[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666664776296 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666664776296[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666667761418 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666667761418[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651049304861 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651049304861[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824132309064 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824132309064[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863110255386 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863110255386[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000862858193481 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000862858193481[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000282910874562 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000282910874562[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000394030427638 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000394030427638[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393990095507 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393990095507[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011302792063 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011302792063[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001743426425081 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001743426425081[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002121191785667 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002121191785667[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962359456756 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962359456756[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000939124217102 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000939124217102[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751022372238 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751022372238[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598120945936 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598120945936[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607849608316 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607849608316[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959945569355 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959945569355[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853688397699 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853688397699[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093657483967 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093657483967[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748627968458 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748627968458[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133597145442 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133597145442[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410177602153 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410177602153[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544864102607 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544864102607[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358461514497 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358461514497[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834050395732 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834050395732[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628065274107 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628065274107[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890150035114 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890150035114[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003663265449918 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003663265449918[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002124365855158 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002124365855158[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000846189754511 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000846189754511[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984298993542 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984298993542[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026504737709 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026504737709[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280850423557 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280850423557[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381609076935 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381609076935[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873305914661 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873305914661[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769876055844 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769876055844[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033447578454 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033447578454[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796505286578 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796505286578[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616078113847 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616078113847[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879006251769 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879006251769[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069988641777 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069988641777[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928462594749 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928462594749[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949658380898 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949658380898[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025324998336 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025324998336[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373606615210 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373606615210[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926408104390 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926408104390[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077115489877 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077115489877[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416770465075 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416770465075[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415199584849 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415199584849[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133444738473 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133444738473[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576184663436 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576184663436[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914153899534 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914153899534[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465491129516 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465491129516[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000939213432100 ×2 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000939213432100[0m ×4 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001218823557068 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001218823557068[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001137320439826 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001137320439826[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243864017652 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243864017652[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206747134633 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206747134633[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000271905714941 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000271905714941[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023670474729 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023670474729[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721529185791 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721529185791[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001571128080843 + 26.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001571128080843[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656958685066 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656958685066[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000799279417218 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000799279417218[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385366416182 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385366416182[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002501371137055 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002501371137055[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002501355350938 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002501355350938[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717365859852 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717365859852[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918595230933 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918595230933[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371484601785 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371484601785[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002339530280794 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002339530280794[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847886389230 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847886389230[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005882553642575 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005882553642575[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432915325041 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432915325041[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601082886889 + 26.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601082886889[0m ×2 + 26.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004011088346807 + 26.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004011088346807[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502164315512 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502164315512[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335335154027 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335335154027[0m ×2 + 26.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502591468685 + 26.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502591468685[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940082507763 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940082507763[0m ×2 + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589669 ms (missed cycles : 4). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589669 ms (missed cycles : 4).[0m ×2 + 27.28sWARNcontroller_managerOverrun might occur, Total time : 1780.126 us (Expected < 1666.667 us) --> Read time : 133.877 us, Update time : 1438.888 us, Write time : 207.361 us + 27.28sWARNros2_control_nodeOverrun might occur, Total time : 1780.126 us (Expected < 1666.667 us) --> Read time : 133.877 us, Update time : 1438.888 us, Write time : 207.361 us[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244713 ms (missed cycles : 3). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244713 ms (missed cycles : 3).[0m ×2 + 28.34sWARNcontroller_managerOverrun might occur, Total time : 9553.905 us (Expected < 1666.667 us) --> Read time : 178.749 us, Update time : 8390.592 us, Write time : 984.564 us + 28.35sWARNros2_control_nodeOverrun might occur, Total time : 9553.905 us (Expected < 1666.667 us) --> Read time : 178.749 us, Update time : 8390.592 us, Write time : 984.564 us[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000286637111052 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000286637111052[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.069624540981028 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.069624540981028[0m ×2 + 28.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.265921473940583 + 28.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.265921473940583[0m ×2 + 28.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.170013437098579 ×2 + 28.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.170013437098579[0m ×4 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.926107836907200 ×2 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.926107836907200[0m ×4 + 28.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.394430066314303 ×2 + 28.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.394430066314303[0m ×4 + 28.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.554811398022593 + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.554811398022593[0m ×2 + 28.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.227124479836398 ×2 + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.227124479836398[0m ×4 + 28.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.931785728059186 ×2 + 28.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.931785728059186[0m ×4 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.600685102606436 + 28.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.600685102606436[0m ×2 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.258148790878101 ×2 + 28.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.258148790878101[0m ×4 + 28.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.438000937931994 ×2 + 28.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.438000937931994[0m ×4 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.946000580311544 ×2 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.946000580311544[0m ×4 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.464742102807531 ×2 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.464742102807531[0m ×4 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.961218949657603 + 28.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.961218949657603[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.469392179796547 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.469392179796547[0m ×2 + 28.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.238812582289309 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.238812582289309[0m ×2 + 28.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.005986667342739 ×2 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.005986667342739[0m ×4 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.942476192853359 ×2 + 28.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.942476192853359[0m ×4 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.894584101088416 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.894584101088416[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.772425174939600 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.772425174939600[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.723710821892427 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.723710821892427[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.667287572780128 ×2 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.667287572780128[0m ×4 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.163728178290904 ×2 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.163728178290904[0m ×4 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.724720863407808 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.724720863407808[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.081464246894734 ×2 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.081464246894734[0m ×4 + 28.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.668939120019398 ×2 + 28.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.668939120019398[0m ×4 + 28.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.339112269682561 ×2 + 28.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.339112269682561[0m ×4 + 28.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.634064489556805 + 28.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.634064489556805[0m ×2 + 28.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.903484124663386 ×2 + 28.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.903484124663386[0m ×4 + 28.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.951079043121828 ×2 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.951079043121828[0m ×4 + 28.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.756481936756094 ×2 + 28.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.756481936756094[0m ×4 + 28.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.660787157659573 + 28.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.660787157659573[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.603825483923941 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.603825483923941[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.397325780510727 ×2 + 28.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.397325780510727[0m ×4 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.831833132935735 + 29.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.831833132935735[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.718040154148436 ×2 + 29.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.718040154148436[0m ×4 + 29.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.274882583307388 ×2 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.274882583307388[0m ×4 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.299250806002082 ×2 + 29.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.299250806002082[0m ×4 + 29.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.564109954508879 + 29.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.564109954508879[0m ×2 + 29.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.365711177699207 ×2 + 29.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.365711177699207[0m ×4 + 29.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.081622820186496 ×2 + 29.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.081622820186496[0m ×4 + 29.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.374023666481570 ×2 + 29.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.374023666481570[0m ×4 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.881573684604291 ×2 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.881573684604291[0m ×4 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.628555502410332 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.628555502410332[0m ×2 + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833649 ms (missed cycles : 4). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833649 ms (missed cycles : 4).[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.418681898980495 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.418681898980495[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.905774777474136 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.905774777474136[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.126638072799779 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.126638072799779[0m ×2 + 29.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.571443657647761 + 29.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.571443657647761[0m ×2 + 29.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.223367553317956 ×2 + 29.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.223367553317956[0m ×4 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.943061694703980 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.943061694703980[0m ×2 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.873868047342473 ×2 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.873868047342473[0m ×4 + 29.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.609178450437572 + 29.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.609178450437572[0m ×2 + 29.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.620566135321042 ×2 + 29.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.620566135321042[0m ×4 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.436761828429582 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.436761828429582[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.436752650832823 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.436752650832823[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.749338352012579 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.749338352012579[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.217426592780459 ×2 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.217426592780459[0m ×4 + 29.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.607634926962188 ×2 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.607634926962188[0m ×4 + 29.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.151957031404756 ×2 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.151957031404756[0m ×4 + 29.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.725201217351199 + 29.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.725201217351199[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.984635372051876 + 29.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.984635372051876[0m ×2 + 29.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.938515410101754 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.938515410101754[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.847137164095471 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.847137164095471[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.528290035243259 ×2 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.528290035243259[0m ×4 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -39.626346818902903 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -39.626346818902903[0m ×2 + 29.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.997838510791624 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.997838510791624[0m ×2 + 29.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.535066697409970 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.535066697409970[0m ×2 + 29.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.535066697410006 + 29.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.535066697410006[0m ×2 + 29.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.627813014804353 ×2 + 29.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.627813014804353[0m ×4 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.445394951660074 ×2 + 29.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.445394951660074[0m ×4 + 29.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.457135088220941 ×2 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.457135088220941[0m ×4 + 29.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.641378550886076 ×2 + 29.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.641378550886076[0m ×4 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.609967613663903 ×2 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.609967613663903[0m ×4 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.373310943237805 ×2 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.373310943237805[0m ×4 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -45.579003773770033 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -45.579003773770033[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 301.282289504394100 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 301.282289504394100[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 308.653498737689915 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 308.653498737689915[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -43.659933552434381 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -43.659933552434381[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 418.310390461843554 ×2 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 418.310390461843554[0m ×4 + 29.49sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 1.0300. ×29552 + 29.49sINFOobjective_server_node ×31940 + 29.50sINFOobjective_server_node[0;mRollout divergence at step ×2 + 29.50sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 1.0000. ×2218 + 29.50sINFOobjective_server_nodeRollout divergence at step ×31938 + 29.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3377525.930643534753472 ×483 + 29.51sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 3. The simulation is unstable. Time = 0.9900. ×58 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3377525.930643534753472[0m ×966 + 29.52sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 1.0100. ×112 + 29.53sWARNcontroller_managerOverrun might occur, Total time : 3960.884 us (Expected < 1666.667 us) --> Read time : 184.710 us, Update time : 3204.903 us, Write time : 571.271 us + 29.54sWARNros2_control_nodeOverrun might occur, Total time : 3960.884 us (Expected < 1666.667 us) --> Read time : 184.710 us, Update time : 3204.903 us, Write time : 571.271 us[0m ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259681 ms (missed cycles : 2). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259681 ms (missed cycles : 2).[0m ×2 + 30.65sWARNcontroller_managerOverrun might occur, Total time : 2052.700 us (Expected < 1666.667 us) --> Read time : 211.271 us, Update time : 1449.258 us, Write time : 392.171 us + 31.08sWARNros2_control_nodeOverrun might occur, Total time : 2052.700 us (Expected < 1666.667 us) --> Read time : 211.271 us, Update time : 1449.258 us, Write time : 392.171 us[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508249 ms (missed cycles : 4). + 31.69sWARNcontroller_managerOverrun might occur, Total time : 2071.832 us (Expected < 1666.667 us) --> Read time : 132.177 us, Update time : 297.916 us, Write time : 1641.739 us + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508249 ms (missed cycles : 4).[0m ×2 + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666599 ms (missed cycles : 5). + 32.51sWARNros2_control_nodeOverrun might occur, Total time : 2071.832 us (Expected < 1666.667 us) --> Read time : 132.177 us, Update time : 297.916 us, Write time : 1641.739 us[0m ×2 + 32.70sWARNcontroller_managerOverrun might occur, Total time : 1986.397 us (Expected < 1666.667 us) --> Read time : 131.227 us, Update time : 1530.273 us, Write time : 324.897 us + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666599 ms (missed cycles : 5).[0m ×2 + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725659 ms (missed cycles : 2). + 33.78sWARNros2_control_nodeOverrun might occur, Total time : 1986.397 us (Expected < 1666.667 us) --> Read time : 131.227 us, Update time : 1530.273 us, Write time : 324.897 us[0m ×2 + 33.83sWARNcontroller_managerOverrun might occur, Total time : 3411.454 us (Expected < 1666.667 us) --> Read time : 159.519 us, Update time : 2884.775 us, Write time : 367.160 us + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784665 ms (missed cycles : 6). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725659 ms (missed cycles : 2).[0m ×2 + 34.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780950981.70958757 seconds ×3 + 34.86sWARNcontroller_managerOverrun might occur, Total time : 2689.746 us (Expected < 1666.667 us) --> Read time : 177.040 us, Update time : 2000.488 us, Write time : 512.218 us + 34.89sWARNros2_control_nodeOverrun might occur, Total time : 3411.454 us (Expected < 1666.667 us) --> Read time : 159.519 us, Update time : 2884.775 us, Write time : 367.160 us[0m ×2 + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784665 ms (missed cycles : 6).[0m ×2 + 35.03sWARNros2_control_nodeOverrun might occur, Total time : 2689.746 us (Expected < 1666.667 us) --> Read time : 177.040 us, Update time : 2000.488 us, Write time : 512.218 us[0m ×2 + 35.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780950982.33068705 seconds. ×3 + 35.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 35.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 35.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 35.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 35.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 35.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 35.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 35.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 35.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792514 ms (missed cycles : 4). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792514 ms (missed cycles : 4).[0m ×2 + 35.30sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 35.30sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 35.31sINFOros2_control_node[2026-06-08 20:36:22.473] [info] Received new action goal ×2 + 35.31sINFOros2_control_node[2026-06-08 20:36:22.473] [info] Accepted new action goal ×2 + 35.86sWARNcontroller_managerOverrun might occur, Total time : 1759.295 us (Expected < 1666.667 us) --> Read time : 146.788 us, Update time : 255.334 us, Write time : 1357.173 us + 35.87sWARNros2_control_nodeOverrun might occur, Total time : 1759.295 us (Expected < 1666.667 us) --> Read time : 146.788 us, Update time : 255.334 us, Write time : 1357.173 us[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857883 ms (missed cycles : 2). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857883 ms (missed cycles : 2).[0m ×2 + 37.02sWARNcontroller_managerOverrun might occur, Total time : 3688.659 us (Expected < 1666.667 us) --> Read time : 153.718 us, Update time : 3118.548 us, Write time : 416.393 us + 37.02sWARNros2_control_nodeOverrun might occur, Total time : 3688.659 us (Expected < 1666.667 us) --> Read time : 153.718 us, Update time : 3118.548 us, Write time : 416.393 us[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824749 ms (missed cycles : 2). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824749 ms (missed cycles : 2).[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000513755097375 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000513755097375[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230188228585 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230188228585[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039021170714 ×2 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039021170714[0m ×4 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233323522197 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233323522197[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331547698169 ×2 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331547698169[0m ×4 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169066650591 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169066650591[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023776590781 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023776590781[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295739799196 ×2 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295739799196[0m ×4 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006558105475 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006558105475[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006313041661 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006313041661[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012649805514 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012649805514[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000372611285514 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000372611285514[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000476528242549 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000476528242549[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010505884156 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010505884156[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205021363032 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205021363032[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000732460769790 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000732460769790[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395005212135 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395005212135[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550872673852 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550872673852[0m ×2 + 37.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251526202714 ×2 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251526202714[0m ×4 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063315511390 ×2 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063315511390[0m ×4 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104501628537 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104501628537[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000422841926471 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000422841926471[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530099129404 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530099129404[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047371923450 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047371923450[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244658199199 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244658199199[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725312564027 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725312564027[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046174674794 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046174674794[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423281591718 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423281591718[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391847491174 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391847491174[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001484732523833 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001484732523833[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300714559100 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300714559100[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263528753396 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263528753396[0m ×2 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466313643156 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466313643156[0m ×2 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000458240937329 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000458240937329[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021807357497 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021807357497[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018931800720 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018931800720[0m ×2 + 37.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038107989032 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038107989032[0m ×2 + 37.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157627385890 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157627385890[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000453855316633 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000453855316633[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000517121884810 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000517121884810[0m ×2 + 37.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274396111818 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274396111818[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390014484249 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390014484249[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172548816171 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172548816171[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002093842602 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002093842602[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304454955491 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304454955491[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558444243469 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558444243469[0m ×2 + 37.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496741256799 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496741256799[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910313416826 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910313416826[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910030975404 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910030975404[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105900628722 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105900628722[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023876528682 ×2 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023876528682[0m ×4 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077931403389 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077931403389[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776230697545 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776230697545[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550529341011 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550529341011[0m ×2 + 37.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275801346448 + 37.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275801346448[0m ×2 + 37.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100413922241 + 37.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100413922241[0m ×2 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161058270755 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161058270755[0m ×2 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152550358923 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152550358923[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152665595174 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152665595174[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000184698615640 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000184698615640[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000185117481678 + 37.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000185117481678[0m ×2 + 38.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017539643074 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017539643074[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022676411809 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022676411809[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018190573127 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018190573127[0m ×2 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012791979764 ×2 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012791979764[0m ×4 + 38.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067923484666 ×2 + 38.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067923484666[0m ×4 + 38.06sWARNcontroller_managerOverrun might occur, Total time : 1918.234 us (Expected < 1666.667 us) --> Read time : 508.027 us, Update time : 513.478 us, Write time : 896.729 us + 38.06sWARNros2_control_nodeOverrun might occur, Total time : 1918.234 us (Expected < 1666.667 us) --> Read time : 508.027 us, Update time : 513.478 us, Write time : 896.729 us[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003657369877 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003657369877[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004309394035 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004309394035[0m ×2 + 38.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072840348489 ×2 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072840348489[0m ×4 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040482582639 + 38.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040482582639[0m ×2 + 38.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159525291050 + 38.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159525291050[0m ×2 + 38.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000463346530118 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000463346530118[0m ×2 + 38.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242634656040 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242634656040[0m ×2 + 38.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126221927326 + 38.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126221927326[0m ×2 + 38.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058757700727 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058757700727[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215083286634 + 38.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215083286634[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054628748241 ×2 + 38.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054628748241[0m ×4 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014624041882 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014624041882[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007592646307 ×2 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007592646307[0m ×4 + 38.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048917303098 + 38.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048917303098[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071428279240 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071428279240[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071637624296 + 38.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071637624296[0m ×2 + 38.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124649586943 + 38.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124649586943[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124999192063 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124999192063[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.8s | 3 errors · 177 warnings · 229 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171607 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171607 ms (missed cycles : 4).[0m ×2 + 0.73sWARNcontroller_managerOverrun might occur, Total time : 1705.112 us (Expected < 1666.667 us) --> Read time : 280.765 us, Update time : 364.970 us, Write time : 1059.377 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 1705.112 us (Expected < 1666.667 us) --> Read time : 280.765 us, Update time : 364.970 us, Write time : 1059.377 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856072 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856072 ms (missed cycles : 4).[0m ×2 + 1.68sINFOobjective_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 + 1.72sINFOobjective_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 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 1.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 5448.744 us (Expected < 1666.667 us) --> Read time : 158.728 us, Update time : 4838.552 us, Write time : 451.464 us + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668581 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 5448.744 us (Expected < 1666.667 us) --> Read time : 158.728 us, Update time : 4838.552 us, Write time : 451.464 us[0m ×2 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668581 ms (missed cycles : 4).[0m ×2 + 2.71sERRORobjective_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 + 2.71sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780951015.03033757 seconds ×3 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300573 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300573 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780951015.64184380 seconds. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.78sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.78sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 2837.464 us (Expected < 1666.667 us) --> Read time : 183.490 us, Update time : 2300.605 us, Write time : 353.369 us + 3.89sWARNros2_control_nodeOverrun might occur, Total time : 2837.464 us (Expected < 1666.667 us) --> Read time : 183.490 us, Update time : 2300.605 us, Write time : 353.369 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122084 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122084 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_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 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 7 iterations (0.0046717 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 4.50sINFOros2_control_node[2026-06-08 20:36:56.826] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-06-08 20:36:56.826] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun might occur, Total time : 1873.651 us (Expected < 1666.667 us) --> Read time : 111.846 us, Update time : 1341.582 us, Write time : 420.223 us + 5.05sWARNros2_control_nodeOverrun might occur, Total time : 1873.651 us (Expected < 1666.667 us) --> Read time : 111.846 us, Update time : 1341.582 us, Write time : 420.223 us[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900860 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900860 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847590 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847590 ms (missed cycles : 4).[0m ×2 + 6.54sWARNcontroller_managerOverrun might occur, Total time : 4655.532 us (Expected < 1666.667 us) --> Read time : 118.056 us, Update time : 4192.727 us, Write time : 344.749 us + 6.55sWARNros2_control_nodeOverrun might occur, Total time : 4655.532 us (Expected < 1666.667 us) --> Read time : 118.056 us, Update time : 4192.727 us, Write time : 344.749 us[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334757 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334757 ms (missed cycles : 3).[0m ×2 + 8.29sWARNcontroller_managerOverrun might occur, Total time : 1887.841 us (Expected < 1666.667 us) --> Read time : 129.787 us, Update time : 1492.190 us, Write time : 265.864 us + 8.29sWARNros2_control_nodeOverrun might occur, Total time : 1887.841 us (Expected < 1666.667 us) --> Read time : 129.787 us, Update time : 1492.190 us, Write time : 265.864 us[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025501 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025501 ms (missed cycles : 3).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571900 ms (missed cycles : 5). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571900 ms (missed cycles : 5).[0m ×2 + 10.04sWARNcontroller_managerOverrun might occur, Total time : 5257.685 us (Expected < 1666.667 us) --> Read time : 86.065 us, Update time : 34.562 us, Write time : 5137.058 us + 10.04sWARNros2_control_nodeOverrun might occur, Total time : 5257.685 us (Expected < 1666.667 us) --> Read time : 86.065 us, Update time : 34.562 us, Write time : 5137.058 us[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795947 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795947 ms (missed cycles : 4).[0m ×2 + 11.29sWARNcontroller_managerOverrun might occur, Total time : 3351.382 us (Expected < 1666.667 us) --> Read time : 148.838 us, Update time : 2818.693 us, Write time : 383.851 us + 11.30sWARNros2_control_nodeOverrun might occur, Total time : 3351.382 us (Expected < 1666.667 us) --> Read time : 148.838 us, Update time : 2818.693 us, Write time : 383.851 us[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557982 ms (missed cycles : 5). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557982 ms (missed cycles : 5).[0m ×2 + 12.22sINFOobjective_server_node[0;m[0;93m2026-06-08 20:37:04.544202440 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.22sINFOobjective_server_node[0;93m2026-06-08 20:37:04.544229922 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088967 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088967 ms (missed cycles : 2).[0m ×2 + 12.68sINFOobjective_server_node[0;93m2026-06-08 20:37:05.007956082 [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 + 12.68sINFOobjective_server_node[0;93m2026-06-08 20:37:05.007988244 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.78sINFOobjective_server_node[0;93m2026-06-08 20:37:05.102179974 [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 + 12.78sINFOobjective_server_node[0;93m2026-06-08 20:37:05.103994202 [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 + 12.78sINFOobjective_server_node[0;93m2026-06-08 20:37:05.104011063 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.06sINFOobjective_server_node[0;93m2026-06-08 20:37:05.382763497 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.08sINFOobjective_server_node[0;93m2026-06-08 20:37:05.399694360 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.08sINFOobjective_server_node[0;93m2026-06-08 20:37:05.399740163 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.32sWARNcontroller_managerOverrun might occur, Total time : 3251.635 us (Expected < 1666.667 us) --> Read time : 157.678 us, Update time : 2744.148 us, Write time : 349.809 us + 13.32sWARNros2_control_nodeOverrun might occur, Total time : 3251.635 us (Expected < 1666.667 us) --> Read time : 157.678 us, Update time : 2744.148 us, Write time : 349.809 us[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965007 ms (missed cycles : 6). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965007 ms (missed cycles : 6).[0m ×2 + 13.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/masks_visualization" + 13.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/masks_visualization"[0m ×2 + 14.41sWARNcontroller_managerOverrun might occur, Total time : 11962.373 us (Expected < 1666.667 us) --> Read time : 181.109 us, Update time : 11315.779 us, Write time : 465.485 us + 14.41sWARNros2_control_nodeOverrun might occur, Total time : 11962.373 us (Expected < 1666.667 us) --> Read time : 181.109 us, Update time : 11315.779 us, Write time : 465.485 us[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664530 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664530 ms (missed cycles : 3).[0m ×2 + 14.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 14.86sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 14.86sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 15.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 15.37sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194569 ms (missed cycles : 6). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194569 ms (missed cycles : 6).[0m ×2 + 15.58sWARNcontroller_managerOverrun might occur, Total time : 7096.162 us (Expected < 1666.667 us) --> Read time : 142.248 us, Update time : 6490.629 us, Write time : 463.285 us + 15.58sWARNros2_control_nodeOverrun might occur, Total time : 7096.162 us (Expected < 1666.667 us) --> Read time : 142.248 us, Update time : 6490.629 us, Write time : 463.285 us[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157332 ms (missed cycles : 5). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157332 ms (missed cycles : 5).[0m ×2 + 17.10sWARNcontroller_managerOverrun might occur, Total time : 3576.484 us (Expected < 1666.667 us) --> Read time : 114.757 us, Update time : 3185.122 us, Write time : 276.605 us + 17.10sWARNros2_control_nodeOverrun might occur, Total time : 3576.484 us (Expected < 1666.667 us) --> Read time : 114.757 us, Update time : 3185.122 us, Write time : 276.605 us[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596611 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596611 ms (missed cycles : 2).[0m ×2 + 18.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 18.30sINFOobjective_server_nodeFound path in 4 iterations (0.00222974 s). ×2 + 18.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.37sINFOobjective_server_nodeFound path in 12 iterations (0.00316253 s). ×2 + 18.41sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/solution" + 18.41sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/solution"[0m ×2 + 18.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.45sINFOobjective_server_nodeFound path in 1 iterations (0.00182743 s). ×2 + 18.48sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 18.50sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 18.52sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.53sWARNcontroller_managerOverrun might occur, Total time : 8219.454 us (Expected < 1666.667 us) --> Read time : 179.920 us, Update time : 180.730 us, Write time : 7858.804 us + 18.53sWARNros2_control_nodeOverrun might occur, Total time : 8219.454 us (Expected < 1666.667 us) --> Read time : 179.920 us, Update time : 180.730 us, Write time : 7858.804 us[0m ×2 + 18.53sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 18.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.58sINFOobjective_server_nodeFound path in 12 iterations (0.00400079 s). ×2 + 18.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 18.64sINFOobjective_server_nodeFound path in 1 iterations (0.00345918 s). ×2 + 18.66sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143901 ms (missed cycles : 6). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143901 ms (missed cycles : 6).[0m ×2 + 18.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] ×2 + 18.73sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×4 + 18.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.77sINFOobjective_server_nodeFound path in 4 iterations (0.00323624 s). ×2 + 18.83sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.86sINFOobjective_server_nodeFound path in 4 iterations (0.00279059 s). ×2 + 18.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 18.98sINFOobjective_server_nodePath shortcutter: [X________________________________X_____________________________X] ×2 + 19.00sINFOobjective_server_nodeFound path in 1 iterations (0.00208264 s). ×2 + 19.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] ×2 + 19.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 19.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.12sINFOobjective_server_nodeFound path in 4 iterations (0.0047887 s). ×2 + 19.21sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X___________________________X] ×2 + 19.23sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 19.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 19.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.31sINFOros2_control_node[2026-06-08 20:37:11.638] [info] Received new action goal ×2 + 19.31sINFOros2_control_node[2026-06-08 20:37:11.638] [info] Accepted new action goal ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.168843 ms (missed cycles : 6). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.168843 ms (missed cycles : 6).[0m ×2 + 19.87sWARNcontroller_managerOverrun might occur, Total time : 1944.375 us (Expected < 1666.667 us) --> Read time : 123.377 us, Update time : 1424.277 us, Write time : 396.721 us + 19.87sWARNros2_control_nodeOverrun might occur, Total time : 1944.375 us (Expected < 1666.667 us) --> Read time : 123.377 us, Update time : 1424.277 us, Write time : 396.721 us[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748250 ms (missed cycles : 5). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748250 ms (missed cycles : 5).[0m ×2 + 21.10sWARNcontroller_managerOverrun might occur, Total time : 1705.723 us (Expected < 1666.667 us) --> Read time : 179.240 us, Update time : 1217.196 us, Write time : 309.287 us + 21.10sWARNros2_control_nodeOverrun might occur, Total time : 1705.723 us (Expected < 1666.667 us) --> Read time : 179.240 us, Update time : 1217.196 us, Write time : 309.287 us[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909586 ms (missed cycles : 3). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909586 ms (missed cycles : 3).[0m ×2 + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039484 ms (missed cycles : 2). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039484 ms (missed cycles : 2).[0m ×2 + 22.89sWARNcontroller_managerOverrun might occur, Total time : 1889.222 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1494.890 us, Write time : 252.884 us + 22.89sWARNros2_control_nodeOverrun might occur, Total time : 1889.222 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1494.890 us, Write time : 252.884 us[0m ×2 + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108996 ms (missed cycles : 2). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108996 ms (missed cycles : 2).[0m ×2 + 24.28sWARNcontroller_managerOverrun might occur, Total time : 6973.366 us (Expected < 1666.667 us) --> Read time : 168.349 us, Update time : 44.392 us, Write time : 6760.625 us + 24.28sWARNros2_control_nodeOverrun might occur, Total time : 6973.366 us (Expected < 1666.667 us) --> Read time : 168.349 us, Update time : 44.392 us, Write time : 6760.625 us[0m ×2 + 24.33sINFOros2_control_node[2026-06-08 20:37:16.655] [info] Received new action goal ×2 + 24.33sINFOros2_control_node[2026-06-08 20:37:16.655] [info] Accepted new action goal ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305438 ms (missed cycles : 2). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305438 ms (missed cycles : 2).[0m ×2 + 25.65sWARNcontroller_managerOverrun might occur, Total time : 5185.121 us (Expected < 1666.667 us) --> Read time : 92.725 us, Update time : 403.512 us, Write time : 4688.884 us + 25.65sWARNros2_control_nodeOverrun might occur, Total time : 5185.121 us (Expected < 1666.667 us) --> Read time : 92.725 us, Update time : 403.512 us, Write time : 4688.884 us[0m ×2 + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284458 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284458 ms (missed cycles : 2).[0m ×2 + 26.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.06sINFOros2_control_node[2026-06-08 20:37:18.385] [info] Received new action goal ×2 + 26.06sINFOros2_control_node[2026-06-08 20:37:18.385] [info] Accepted new action goal ×2 + 26.72sWARNcontroller_managerOverrun might occur, Total time : 2414.160 us (Expected < 1666.667 us) --> Read time : 112.496 us, Update time : 2008.268 us, Write time : 293.396 us + 26.72sWARNros2_control_nodeOverrun might occur, Total time : 2414.160 us (Expected < 1666.667 us) --> Read time : 112.496 us, Update time : 2008.268 us, Write time : 293.396 us[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771209 ms (missed cycles : 2). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771209 ms (missed cycles : 2).[0m ×2 + 27.27sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.30sINFOros2_control_node[2026-06-08 20:37:19.626] [info] Received new action goal ×2 + 27.30sINFOros2_control_node[2026-06-08 20:37:19.626] [info] Accepted new action goal ×2 + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073454 ms (missed cycles : 6). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073454 ms (missed cycles : 6).[0m ×2 + 28.57sWARNcontroller_managerOverrun might occur, Total time : 4001.647 us (Expected < 1666.667 us) --> Read time : 127.387 us, Update time : 40.323 us, Write time : 3833.937 us + 28.58sWARNros2_control_nodeOverrun might occur, Total time : 4001.647 us (Expected < 1666.667 us) --> Read time : 127.387 us, Update time : 40.323 us, Write time : 3833.937 us[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836324 ms (missed cycles : 4). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836324 ms (missed cycles : 4).[0m ×2 + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2).[0m ×2 + 30.82sWARNcontroller_managerOverrun might occur, Total time : 5374.231 us (Expected < 1666.667 us) --> Read time : 150.509 us, Update time : 4823.520 us, Write time : 400.202 us + 30.82sWARNros2_control_nodeOverrun might occur, Total time : 5374.231 us (Expected < 1666.667 us) --> Read time : 150.509 us, Update time : 4823.520 us, Write time : 400.202 us[0m ×2 + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147416 ms (missed cycles : 2). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147416 ms (missed cycles : 2).[0m ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654936 ms (missed cycles : 3). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654936 ms (missed cycles : 3).[0m ×2 + 32.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780951044.87202358 seconds ×3 + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159587 ms (missed cycles : 2). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159587 ms (missed cycles : 2).[0m ×2 + 33.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780951045.62668419 seconds. ×3 + 33.53sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 33.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.54sINFOros2_control_node[2026-06-08 20:37:25.860] [info] Received new action goal ×2 + 33.54sINFOros2_control_node[2026-06-08 20:37:25.861] [info] Accepted new action goal ×2 + 33.54sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 33.54sINFOfoxglove_bridgeRemoving channel 79 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 33.54sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 33.54sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 33.54sINFOfoxglove_bridgeRemoving channel 79 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 33.55sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 33.58sWARNcontroller_managerOverrun might occur, Total time : 5304.456 us (Expected < 1666.667 us) --> Read time : 155.318 us, Update time : 4601.458 us, Write time : 547.680 us + 33.58sWARNros2_control_nodeOverrun might occur, Total time : 5304.456 us (Expected < 1666.667 us) --> Read time : 155.318 us, Update time : 4601.458 us, Write time : 547.680 us[0m ×2 + 33.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.35% of iterations over budget over 4:10.015 of wall time (273/77286). Below 1% is expected on a non-realtime system.[0m ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338003 ms (missed cycles : 4). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338003 ms (missed cycles : 4).[0m ×2 + 34.99sWARNcontroller_managerOverrun might occur, Total time : 5319.577 us (Expected < 1666.667 us) --> Read time : 135.817 us, Update time : 4808.679 us, Write time : 375.081 us + 34.99sWARNros2_control_nodeOverrun might occur, Total time : 5319.577 us (Expected < 1666.667 us) --> Read time : 135.817 us, Update time : 4808.679 us, Write time : 375.081 us[0m ×2 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759081 ms (missed cycles : 7). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759081 ms (missed cycles : 7).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866551 ms (missed cycles : 2). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866551 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 21.0s | 3 errors · 141 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.36sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834922 ms (missed cycles : 5). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834922 ms (missed cycles : 5).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074469 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074469 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun might occur, Total time : 1668.200 us (Expected < 1666.667 us) --> Read time : 103.835 us, Update time : 258.804 us, Write time : 1305.561 us + 7.73sWARNros2_control_nodeOverrun might occur, Total time : 1668.200 us (Expected < 1666.667 us) --> Read time : 103.835 us, Update time : 258.804 us, Write time : 1305.561 us[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905059 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905059 ms (missed cycles : 2).[0m ×2 + 8.94sWARNcontroller_managerOverrun might occur, Total time : 1810.888 us (Expected < 1666.667 us) --> Read time : 143.618 us, Update time : 115.906 us, Write time : 1551.364 us + 8.95sWARNros2_control_nodeOverrun might occur, Total time : 1810.888 us (Expected < 1666.667 us) --> Read time : 143.618 us, Update time : 115.906 us, Write time : 1551.364 us[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929683 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929683 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958508 ms (missed cycles : 6). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958508 ms (missed cycles : 6).[0m ×2 + 11.24sWARNcontroller_managerOverrun might occur, Total time : 3220.984 us (Expected < 1666.667 us) --> Read time : 129.337 us, Update time : 2723.857 us, Write time : 367.790 us + 11.24sWARNros2_control_nodeOverrun might occur, Total time : 3220.984 us (Expected < 1666.667 us) --> Read time : 129.337 us, Update time : 2723.857 us, Write time : 367.790 us[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926384 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926384 ms (missed cycles : 2).[0m ×2 + 12.48sWARNcontroller_managerOverrun might occur, Total time : 3566.671 us (Expected < 1666.667 us) --> Read time : 84.144 us, Update time : 3122.618 us, Write time : 359.909 us + 12.48sWARNros2_control_nodeOverrun might occur, Total time : 3566.671 us (Expected < 1666.667 us) --> Read time : 84.144 us, Update time : 3122.618 us, Write time : 359.909 us[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696723 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696723 ms (missed cycles : 4).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689558 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689558 ms (missed cycles : 3).[0m ×2 + 13.73sWARNcontroller_managerOverrun might occur, Total time : 1860.430 us (Expected < 1666.667 us) --> Read time : 171.019 us, Update time : 159.068 us, Write time : 1530.343 us + 13.73sWARNros2_control_nodeOverrun might occur, Total time : 1860.430 us (Expected < 1666.667 us) --> Read time : 171.019 us, Update time : 159.068 us, Write time : 1530.343 us[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.655353 ms (missed cycles : 7). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.655353 ms (missed cycles : 7).[0m ×2 + 15.41sWARNcontroller_managerOverrun might occur, Total time : 2871.155 us (Expected < 1666.667 us) --> Read time : 146.388 us, Update time : 2376.498 us, Write time : 348.269 us + 15.41sWARNros2_control_nodeOverrun might occur, Total time : 2871.155 us (Expected < 1666.667 us) --> Read time : 146.388 us, Update time : 2376.498 us, Write time : 348.269 us[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699131 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699131 ms (missed cycles : 3).[0m ×2 + 16.19sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures" + 16.19sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures"[0m ×2 + 16.69sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 16.69sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070349 ms (missed cycles : 3). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070349 ms (missed cycles : 3).[0m ×2 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695706 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695706 ms (missed cycles : 2).[0m ×2 + 17.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 17.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 17.92sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 18.14sWARNcontroller_managerOverrun might occur, Total time : 4249.519 us (Expected < 1666.667 us) --> Read time : 106.106 us, Update time : 3784.304 us, Write time : 359.109 us + 18.14sWARNros2_control_nodeOverrun might occur, Total time : 4249.519 us (Expected < 1666.667 us) --> Read time : 106.106 us, Update time : 3784.304 us, Write time : 359.109 us[0m ×2 + 18.19sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 18.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 18.20sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 18.20sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 18.21sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 18.21sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 18.22sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m ×2 + 18.25sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 18.26sINFOobjective_server_nodeFound path in 5 iterations (0.00392905 s). ×2 + 18.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 18.33sINFOros2_control_node[2026-06-08 20:33:51.018] [info] Received new action goal ×2 + 18.33sINFOros2_control_node[2026-06-08 20:33:51.018] [info] Accepted new action goal ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552004 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552004 ms (missed cycles : 2).[0m ×2 + 19.21sWARNcontroller_managerOverrun might occur, Total time : 5255.703 us (Expected < 1666.667 us) --> Read time : 77.204 us, Update time : 4815.249 us, Write time : 363.250 us + 19.21sWARNros2_control_nodeOverrun might occur, Total time : 5255.703 us (Expected < 1666.667 us) --> Read time : 77.204 us, Update time : 4815.249 us, Write time : 363.250 us[0m ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794595 ms (missed cycles : 3). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794595 ms (missed cycles : 3).[0m ×2 + 20.56sINFOros2_control_node[2026-06-08 20:33:53.241] [info] Received new action goal ×2 + 20.56sINFOros2_control_node[2026-06-08 20:33:53.241] [info] Accepted new action goal ×2 + 20.73sWARNcontroller_managerOverrun might occur, Total time : 5329.987 us (Expected < 1666.667 us) --> Read time : 130.996 us, Update time : 4782.919 us, Write time : 416.072 us + 20.73sWARNros2_control_nodeOverrun might occur, Total time : 5329.987 us (Expected < 1666.667 us) --> Read time : 130.996 us, Update time : 4782.919 us, Write time : 416.072 us[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032360 ms (missed cycles : 3). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032360 ms (missed cycles : 3).[0m ×2 + 21.87sWARNcontroller_managerOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us + 21.87sWARNros2_control_nodeOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2).[0m ×2 + 22.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 22.22sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Received new action goal ×2 + 22.22sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Accepted new action goal ×2 + 22.90sWARNcontroller_managerOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us + 22.90sWARNros2_control_nodeOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us[0m ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2).[0m ×2 + 23.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950836.19189358 seconds ×3 + 24.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950836.75852942 seconds. ×3 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2).[0m ×2 + 24.14sWARNcontroller_managerOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us + 24.14sWARNros2_control_nodeOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us[0m ×2 + 24.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950836.83866096 seconds ×3 + 24.28sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 24.28sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 24.77sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950837.45142102 seconds. ×3 + 24.78sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 24.78sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 24.86sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 24.87sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Received new action goal ×2 + 24.87sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Accepted new action goal ×2 + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3).[0m ×2 + 25.37sWARNcontroller_managerOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us + 25.37sWARNros2_control_nodeOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us[0m ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5).[0m ×2 + 26.79sWARNcontroller_managerOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us + 26.79sWARNros2_control_nodeOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us[0m ×2 + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 20.9s | 6524 errors · 152 warnings · 77915 info |
+ 0.00sINFOobjective_server_node ×22526 + 0.00sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 1.0300. ×21182 + 0.00sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 1.0000. ×1342 + 0.00sINFOobjective_server_nodeRollout divergence at step ×22570 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2750 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3377525.930643534753472 ×290 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×5604 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3377525.930643534753472[0m ×684 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 2071.832 us (Expected < 1666.667 us) --> Read time : 132.177 us, Update time : 297.916 us, Write time : 1641.739 us + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508249 ms (missed cycles : 4).[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666599 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2071.832 us (Expected < 1666.667 us) --> Read time : 132.177 us, Update time : 297.916 us, Write time : 1641.739 us[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 1986.397 us (Expected < 1666.667 us) --> Read time : 131.227 us, Update time : 1530.273 us, Write time : 324.897 us + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666599 ms (missed cycles : 5).[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725659 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1986.397 us (Expected < 1666.667 us) --> Read time : 131.227 us, Update time : 1530.273 us, Write time : 324.897 us[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 3411.454 us (Expected < 1666.667 us) --> Read time : 159.519 us, Update time : 2884.775 us, Write time : 367.160 us + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784665 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725659 ms (missed cycles : 2).[0m ×2 + 3.30sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×3 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780950981.70958757 seconds ×3 + 3.63sWARNcontroller_managerOverrun might occur, Total time : 2689.746 us (Expected < 1666.667 us) --> Read time : 177.040 us, Update time : 2000.488 us, Write time : 512.218 us + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 3411.454 us (Expected < 1666.667 us) --> Read time : 159.519 us, Update time : 2884.775 us, Write time : 367.160 us[0m ×2 + 3.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784665 ms (missed cycles : 6).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.80sWARNros2_control_nodeOverrun might occur, Total time : 2689.746 us (Expected < 1666.667 us) --> Read time : 177.040 us, Update time : 2000.488 us, Write time : 512.218 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780950982.33068705 seconds. ×3 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792514 ms (missed cycles : 4). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792514 ms (missed cycles : 4).[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.08sINFOros2_control_node[2026-06-08 20:36:22.473] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-06-08 20:36:22.473] [info] Accepted new action goal ×2 + 4.14sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 4.20sINFOobjective_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 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun might occur, Total time : 1759.295 us (Expected < 1666.667 us) --> Read time : 146.788 us, Update time : 255.334 us, Write time : 1357.173 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 1759.295 us (Expected < 1666.667 us) --> Read time : 146.788 us, Update time : 255.334 us, Write time : 1357.173 us[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857883 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857883 ms (missed cycles : 2).[0m ×2 + 5.79sWARNcontroller_managerOverrun might occur, Total time : 3688.659 us (Expected < 1666.667 us) --> Read time : 153.718 us, Update time : 3118.548 us, Write time : 416.393 us + 5.79sWARNros2_control_nodeOverrun might occur, Total time : 3688.659 us (Expected < 1666.667 us) --> Read time : 153.718 us, Update time : 3118.548 us, Write time : 416.393 us[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824749 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824749 ms (missed cycles : 2).[0m ×2 + 6.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000513755097375 + 6.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000513755097375[0m ×2 + 6.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230188228585 + 6.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230188228585[0m ×2 + 6.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039021170714 ×2 + 6.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039021170714[0m ×4 + 6.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233323522197 + 6.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233323522197[0m ×2 + 6.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331547698169 ×2 + 6.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331547698169[0m ×4 + 6.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169066650591 + 6.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169066650591[0m ×2 + 6.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023776590781 + 6.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023776590781[0m ×2 + 6.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295739799196 ×2 + 6.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295739799196[0m ×4 + 6.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006558105475 + 6.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006558105475[0m ×2 + 6.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006313041661 + 6.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006313041661[0m ×2 + 6.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012649805514 + 6.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012649805514[0m ×2 + 6.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000372611285514 + 6.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000372611285514[0m ×2 + 6.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000476528242549 + 6.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000476528242549[0m ×2 + 6.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010505884156 + 6.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010505884156[0m ×2 + 6.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205021363032 + 6.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205021363032[0m ×2 + 6.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000732460769790 + 6.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000732460769790[0m ×2 + 6.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395005212135 + 6.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395005212135[0m ×2 + 6.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550872673852 + 6.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550872673852[0m ×2 + 6.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251526202714 ×2 + 6.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251526202714[0m ×4 + 6.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063315511390 ×2 + 6.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063315511390[0m ×4 + 6.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104501628537 + 6.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104501628537[0m ×2 + 6.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000422841926471 + 6.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000422841926471[0m ×2 + 6.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530099129404 + 6.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530099129404[0m ×2 + 6.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047371923450 + 6.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001047371923450[0m ×2 + 6.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244658199199 + 6.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244658199199[0m ×2 + 6.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725312564027 + 6.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725312564027[0m ×2 + 6.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046174674794 + 6.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046174674794[0m ×2 + 6.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423281591718 + 6.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423281591718[0m ×2 + 6.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391847491174 + 6.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391847491174[0m ×2 + 6.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001484732523833 + 6.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001484732523833[0m ×2 + 6.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300714559100 + 6.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300714559100[0m ×2 + 6.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263528753396 + 6.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263528753396[0m ×2 + 6.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466313643156 + 6.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001466313643156[0m ×2 + 6.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000458240937329 + 6.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000458240937329[0m ×2 + 6.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021807357497 + 6.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021807357497[0m ×2 + 6.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018931800720 + 6.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018931800720[0m ×2 + 6.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038107989032 + 6.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038107989032[0m ×2 + 6.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157627385890 + 6.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157627385890[0m ×2 + 6.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000453855316633 + 6.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000453855316633[0m ×2 + 6.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000517121884810 + 6.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000517121884810[0m ×2 + 6.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274396111818 + 6.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274396111818[0m ×2 + 6.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390014484249 + 6.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390014484249[0m ×2 + 6.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172548816171 + 6.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172548816171[0m ×2 + 6.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002093842602 + 6.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002093842602[0m ×2 + 6.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304454955491 + 6.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304454955491[0m ×2 + 6.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558444243469 + 6.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558444243469[0m ×2 + 6.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496741256799 + 6.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496741256799[0m ×2 + 6.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910313416826 + 6.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910313416826[0m ×2 + 6.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910030975404 + 6.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910030975404[0m ×2 + 6.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105900628722 + 6.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105900628722[0m ×2 + 6.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023876528682 ×2 + 6.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023876528682[0m ×4 + 6.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077931403389 + 6.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077931403389[0m ×2 + 6.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776230697545 + 6.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776230697545[0m ×2 + 6.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550529341011 + 6.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550529341011[0m ×2 + 6.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275801346448 + 6.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275801346448[0m ×2 + 6.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100413922241 + 6.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100413922241[0m ×2 + 6.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161058270755 + 6.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161058270755[0m ×2 + 6.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152550358923 + 6.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152550358923[0m ×2 + 6.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152665595174 + 6.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152665595174[0m ×2 + 6.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000184698615640 + 6.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000184698615640[0m ×2 + 6.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000185117481678 + 6.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000185117481678[0m ×2 + 6.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017539643074 + 6.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017539643074[0m ×2 + 6.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022676411809 + 6.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022676411809[0m ×2 + 6.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018190573127 + 6.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018190573127[0m ×2 + 6.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012791979764 ×2 + 6.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012791979764[0m ×4 + 6.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067923484666 ×2 + 6.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067923484666[0m ×4 + 6.83sWARNcontroller_managerOverrun might occur, Total time : 1918.234 us (Expected < 1666.667 us) --> Read time : 508.027 us, Update time : 513.478 us, Write time : 896.729 us + 6.83sWARNros2_control_nodeOverrun might occur, Total time : 1918.234 us (Expected < 1666.667 us) --> Read time : 508.027 us, Update time : 513.478 us, Write time : 896.729 us[0m ×2 + 6.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003657369877 + 6.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003657369877[0m ×2 + 6.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004309394035 + 6.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004309394035[0m ×2 + 6.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072840348489 ×2 + 6.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072840348489[0m ×4 + 6.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040482582639 + 6.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040482582639[0m ×2 + 6.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159525291050 + 6.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159525291050[0m ×2 + 6.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000463346530118 + 6.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000463346530118[0m ×2 + 6.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242634656040 + 6.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242634656040[0m ×2 + 6.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126221927326 + 6.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126221927326[0m ×2 + 6.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058757700727 + 6.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058757700727[0m ×2 + 6.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215083286634 + 6.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215083286634[0m ×2 + 6.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054628748241 ×2 + 6.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054628748241[0m ×4 + 6.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014624041882 + 6.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014624041882[0m ×2 + 6.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007592646307 ×2 + 6.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007592646307[0m ×4 + 6.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048917303098 + 6.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048917303098[0m ×2 + 6.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071428279240 + 6.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071428279240[0m ×2 + 6.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071637624296 + 6.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071637624296[0m ×2 + 6.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124649586943 + 6.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124649586943[0m ×2 + 7.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124999192063 + 7.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124999192063[0m ×2 + 7.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009896541061 ×2 + 7.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009896541061[0m ×4 + 7.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023203180862 + 7.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023203180862[0m ×2 + 7.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029460290045 + 7.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029460290045[0m ×2 + 7.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043081892885 + 7.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043081892885[0m ×2 + 7.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012567608431 ×2 + 7.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012567608431[0m ×4 + 7.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006283335557 + 7.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006283335557[0m ×2 + 7.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041557840649 ×2 + 7.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041557840649[0m ×4 + 7.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012797001087 ×2 + 7.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012797001087[0m ×4 + 7.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076212939001 ×2 + 7.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076212939001[0m ×4 + 7.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059915829455 + 7.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059915829455[0m ×2 + 7.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031814426107 + 7.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031814426107[0m ×2 + 7.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063911580674 + 7.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063911580674[0m ×2 + 7.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001510489530 ×2 + 7.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001510489530[0m ×4 + 7.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007135663571 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281658 ms (missed cycles : 2). + 7.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007135663571[0m ×2 + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281658 ms (missed cycles : 2).[0m ×2 + 7.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010218977244 + 7.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010218977244[0m ×2 + 7.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010920409713 + 7.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010920409713[0m ×2 + 7.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278282316674 ×2 + 7.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278282316674[0m ×4 + 7.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000246369525692 + 7.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000246369525692[0m ×2 + 7.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000454948322991 ×2 + 7.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000454948322991[0m ×4 + 7.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247677058981 + 7.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247677058981[0m ×2 + 7.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039211261281 + 7.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039211261281[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161269017516 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161269017516[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052447461869 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052447461869[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215404519740 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215404519740[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083667990343 + 7.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083667990343[0m ×2 + 7.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002826773921 ×2 + 7.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002826773921[0m ×4 + 7.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039645286457 ×2 + 7.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039645286457[0m ×4 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060426560893 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060426560893[0m ×2 + 7.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066360004847 ×2 + 7.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066360004847[0m ×4 + 7.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000058727335023 ×2 + 7.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000058727335023[0m ×4 + 7.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002428069402510 ×2 + 7.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002428069402510[0m ×4 + 7.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001441248541990 + 7.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001441248541990[0m ×2 + 7.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001441404913147 + 7.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001441404913147[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063515564894 + 7.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063515564894[0m ×2 + 7.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000417181860857 + 7.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000417181860857[0m ×2 + 7.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000952555655941 + 7.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000952555655941[0m ×2 + 7.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000952485214116 + 7.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000952485214116[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000705541895656 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000705541895656[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000848613815674 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000848613815674[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291217822475 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291217822475[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361694091779 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361694091779[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573067206516 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573067206516[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676067130410 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676067130410[0m ×2 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070610302850 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070610302850[0m ×2 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001934284965097 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001934284965097[0m ×2 + 7.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367475415999 + 7.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367475415999[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002068838528952 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002068838528952[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000969810964512 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000969810964512[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499523309035 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499523309035[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467025901292 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467025901292[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001598237231313 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000977307280113 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001598237231313[0m ×2 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000977307280113[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030782395110 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030782395110[0m ×2 + 7.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000327753010131 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000327753010131[0m ×2 + 7.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000674437448824 + 7.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000674437448824[0m ×2 + 7.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927180412074 + 7.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927180412074[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092739863130 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092739863130[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092698894822 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092698894822[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000539395350023 ×2 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000539395350023[0m ×4 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037647387679 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037647387679[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495397564552 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495397564552[0m ×2 + 7.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630533906455 + 7.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630533906455[0m ×2 + 7.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001679375155483 + 7.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001679375155483[0m ×2 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924391691411 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924391691411[0m ×2 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001230826989931 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001230826989931[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689681873194 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689681873194[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001663282750148 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001663282750148[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634734627874 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634734627874[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634844580287 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634844580287[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000750900619704 ×2 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000750900619704[0m ×4 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708857439230 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708857439230[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001127825903970 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001127825903970[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000908027411908 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000908027411908[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001375067850939 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001375067850939[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498425320450 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498425320450[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701737875337 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701737875337[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136842399228 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136842399228[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362197918499 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362197918499[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833117997968 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833117997968[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001786543206711 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001786543206711[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867546146358 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867546146358[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867492724230 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867492724230[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001167857584906 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001167857584906[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367494623468 + 7.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001367494623468[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495110170475 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495110170475[0m ×2 + 7.75sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.35% of iterations over budget over 3:10.015 of wall time (204/58724). Below 1% is expected on a non-realtime system.[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954822555708 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954822555708[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894256058310 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894256058310[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209011900742 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209011900742[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465351417324 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465351417324[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568392850545 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568392850545[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623582843164 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623582843164[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001698847885791 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001698847885791[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694266052346 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694266052346[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716343724378 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716343724378[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694941037478 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694941037478[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675106023500 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675106023500[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697252819000 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697252819000[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669154648184 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669154648184[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691491222251 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691491222251[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000795648011702 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000795648011702[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001185965388739 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001185965388739[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001664002888957 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001664002888957[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352027268472 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352027268472[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516794148857 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516794148857[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777125105821 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777125105821[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001773254164065 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001773254164065[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753026123592 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753026123592[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829389852285 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829389852285[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778474395882 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778474395882[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001737780388253 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001737780388253[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744480047220 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744480047220[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787392756771 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787392756771[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001735091738084 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001735091738084[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776708384954 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776708384954[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333138921196 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333138921196[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000994382954371 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000994382954371[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058139640464 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058139640464[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958409068394 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958409068394[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001854116869682 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001854116869682[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001797411198430 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001797411198430[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001941557692194 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001941557692194[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257122034345 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257122034345[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424583531287 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424583531287[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001932928840658 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001932928840658[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829296982844 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829296982844[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001806354068197 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001806354068197[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951428831205 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951428831205[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001874925337138 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001874925337138[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817403351206 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817403351206[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962229395547 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962229395547[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371018108128 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371018108128[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493060028217 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493060028217[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638178399379 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638178399379[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672804123219 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672804123219[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700503571936 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700503571936[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001720850279209 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001720850279209[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001990275714574 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001990275714574[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929037952843 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929037952843[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001854676718029 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001854676718029[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933794157954 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933794157954[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807626423734 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807626423734[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421220389635 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421220389635[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839379335255 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839379335255[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710658 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710658 ms (missed cycles : 2).[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002545408102079 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002545408102079[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202769845248 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202769845248[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012669066391 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012669066391[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287291411001 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287291411001[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065871946748 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065871946748[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924025804802 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924025804802[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924039048727 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924039048727[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000613077795020 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000613077795020[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001857790190109 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001857790190109[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001938046787886 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001938046787886[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001907986885157 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001907986885157[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058661621435 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058661621435[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968499550010 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968499550010[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106944278100 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106944278100[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150483705794 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150483705794[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101125921444 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101125921444[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002051588425861 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002051588425861[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979317983751 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979317983751[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929188526069 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929188526069[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207249962780 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207249962780[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204713105440 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204713105440[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086822249180 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086822249180[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789288068157 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789288068157[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809987259291 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809987259291[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001835926365112 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001835926365112[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988232318837 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988232318837[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001941302446009 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001941302446009[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001910746277101 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001910746277101[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192776729965 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192776729965[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065599317612 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065599317612[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218780546838 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218780546838[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002068208138027 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002068208138027[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975713934036 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975713934036[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258718862172 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258718862172[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101511356045 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101511356045[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002184039666160 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002184039666160[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037201998622 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037201998622[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947609110022 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947609110022[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230086060265 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230086060265[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002073695790461 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002073695790461[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354896079505 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354896079505[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002083044636571 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002083044636571[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981212415075 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981212415075[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079695226616 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079695226616[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681956202886 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681956202886[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771388147981 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771388147981[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833740381376 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833740381376[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129130242884 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129130242884[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002085281506239 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002085281506239[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896407214858 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896407214858[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980229860174 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980229860174[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002584035543926 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002584035543926[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002739531975927 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002739531975927[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401904566380 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401904566380[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176403653373 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176403653373[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463147406119 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463147406119[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430909033993 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430909033993[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718543677507 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718543677507[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553686415404 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553686415404[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764082691360 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764082691360[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289183726043 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289183726043[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430505262484 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430505262484[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191915728924 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191915728924[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002043885648153 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002043885648153[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791200013175 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791200013175[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002804344838293 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002804344838293[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002414498635843 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002414498635843[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176590007369 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176590007369[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464806716531 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464806716531[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207840590645 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207840590645[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047713777426 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047713777426[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002584486460557 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002584486460557[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002284315089495 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002284315089495[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382931124773 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382931124773[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393066639322 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393066639322[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003500344966198 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003500344966198[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788158138560 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788158138560[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956089586499 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956089586499[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246984536500 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246984536500[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003407481852381 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003407481852381[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709429874116 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709429874116[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997763103606 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997763103606[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995169645847 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995169645847[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002024288134644 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002024288134644[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801494866739 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801494866739[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990062163409 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990062163409[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578861887775 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578861887775[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300370365291 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300370365291[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126503636445 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126503636445[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002876494188829 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002876494188829[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172320247076 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172320247076[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680190443585 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680190443585[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355115696062 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355115696062[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905246112725 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905246112725[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490347920154 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490347920154[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227871428023 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227871428023[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002072436859253 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002072436859253[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848407262065 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848407262065[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002025524611249 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002025524611249[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958134571084 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958134571084[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508620539710 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508620539710[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001478664908958 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001478664908958[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001639831707349 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001639831707349[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730324187735 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730324187735[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813488542242 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813488542242[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002363710876894 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002363710876894[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002219142938103 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002219142938103[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002516857571976 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002516857571976[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002307016380088 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002307016380088[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168085676701 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168085676701[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265910446886 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265910446886[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040987635133 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040987635133[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648137920228 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648137920228[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198539274243 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198539274243[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716298900595 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716298900595[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254350272599 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254350272599[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258388447955 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258388447955[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719057608961 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719057608961[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002365557260509 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002365557260509[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009638501325 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009638501325[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551252795744 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551252795744[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101760080263 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101760080263[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599309371296 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599309371296[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897062406497 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897062406497[0m ×2 + 9.18sWARNcontroller_managerOverrun might occur, Total time : 1747.574 us (Expected < 1666.667 us) --> Read time : 160.429 us, Update time : 46.582 us, Write time : 1540.563 us + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458857816488 + 9.20sWARNros2_control_nodeOverrun might occur, Total time : 1747.574 us (Expected < 1666.667 us) --> Read time : 160.429 us, Update time : 46.582 us, Write time : 1540.563 us[0m ×2 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458857816488[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272449213899 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272449213899[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702284 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702284 ms (missed cycles : 3).[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286816682012 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286816682012[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046271933820 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046271933820[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596825397598 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596825397598[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985535842895 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985535842895[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429023782907 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429023782907[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824076421636 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824076421636[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002412410541008 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002412410541008[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003073273402962 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003073273402962[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623704836519 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623704836519[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960294818677 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960294818677[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258153457302 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258153457302[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701370332676 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701370332676[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204996499020 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204996499020[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657697962759 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657697962759[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171136180161 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171136180161[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258347503566 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258347503566[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692941290567 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692941290567[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188816718438 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188816718438[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640376149280 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640376149280[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938085737564 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938085737564[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477319340565 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477319340565[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055656803775 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055656803775[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216774047710 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216774047710[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664318099839 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664318099839[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964963878983 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964963878983[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498755252522 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498755252522[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071310508292 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071310508292[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232124350559 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232124350559[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002555703361844 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002555703361844[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144507719462 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144507719462[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512013852696 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512013852696[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599116111535 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599116111535[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916738805775 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916738805775[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003330908321401 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003330908321401[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490888539146 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490888539146[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825709216263 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825709216263[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258765903733 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003258765903733[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419700049128 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419700049128[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772679816468 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772679816468[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002349808742538 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002349808742538[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899388411419 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899388411419[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358080406832 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358080406832[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655220212184 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655220212184[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957045340608 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957045340608[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509718160202 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509718160202[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308500996508 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308500996508[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828382789073 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828382789073[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614913205291 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614913205291[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002235999908979 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002235999908979[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533293269986 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533293269986[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111266421205 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111266421205[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430803253541 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430803253541[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667697222389 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667697222389[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964852968533 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964852968533[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002107370506880 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002107370506880[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003122015375669 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003122015375669[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432451034323 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432451034323[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789133240128 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789133240128[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417096861775 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417096861775[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002317635639992 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002317635639992[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866765629254 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866765629254[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002411779551306 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002411779551306[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000887313080 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000887313080[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297579786768 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297579786768[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711198482635 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711198482635[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259378647151 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259378647151[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537453844266 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537453844266[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002844543251294 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002844543251294[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392477023983 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392477023983[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003600291417951 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003600291417951[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002864377593718 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002864377593718[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354696368116 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354696368116[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005994884746 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005994884746[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421589103084 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421589103084[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046012552642 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046012552642[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884440010207 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884440010207[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895479057109 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895479057109[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033625542253 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033625542253[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069586827288 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069586827288[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616295736205 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616295736205[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003530796617064 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003530796617064[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665527099258 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665527099258[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211863835883 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211863835883[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223031315722 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223031315722[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769407035256 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769407035256[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778978715283 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778978715283[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938928730495 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938928730495[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676344716239 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676344716239[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002282728722900 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002282728722900[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964288664469 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964288664469[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399380536117 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399380536117[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407626987469 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407626987469[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285642628246 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285642628246[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004580767792281 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004580767792281[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341596555667 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341596555667[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150140333861 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150140333861[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152309444203 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152309444203[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006024281784 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006024281784[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013429739877 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013429739877[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904740035908 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904740035908[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829684877376 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829684877376[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780589071619 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780589071619[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750449088321 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750449088321[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732065383802 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732065383802[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818293459143 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818293459143[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777728754365 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777728754365[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863930977072 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863930977072[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805732609138 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805732609138[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891907944382 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891907944382[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823148207746 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823148207746[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173728561455 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173728561455[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220414862594 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220414862594[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077719387584 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077719387584[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966996183366 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966996183366[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125981201821 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125981201821[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982759401927 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982759401927[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881379970502 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881379970502[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817780156117 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817780156117[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111255598549 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111255598549[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953386184570 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953386184570[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847562769867 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847562769867[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006255931919 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006255931919[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878499608866 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878499608866[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796401089272 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796401089272[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003746870529365 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003746870529365[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719349587364 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719349587364[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706151994535 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706151994535[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246969605006 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246969605006[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036626863959 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036626863959[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893903406978 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893903406978[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186295143119 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186295143119[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982648074595 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982648074595[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274910623264 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274910623264[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030065529929 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030065529929[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869835210118 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869835210118[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161825314658 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161825314658[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556736 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556736 ms (missed cycles : 2).[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951756050149 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951756050149[0m ×2 + 10.28sWARNcontroller_managerOverrun might occur, Total time : 6872.102 us (Expected < 1666.667 us) --> Read time : 94.595 us, Update time : 6281.800 us, Write time : 495.707 us + 10.28sWARNros2_control_nodeOverrun might occur, Total time : 6872.102 us (Expected < 1666.667 us) --> Read time : 94.595 us, Update time : 6281.800 us, Write time : 495.707 us[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158154293881 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158154293881[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007814038963 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007814038963[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897968692810 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897968692810[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820097043819 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820097043819[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814399752137 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814399752137[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383712164383 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383712164383[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086776018520 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086776018520[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624189686698 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624189686698[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224342846412 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224342846412[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943863188109 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943863188109[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767159449505 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767159449505[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298324634078 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298324634078[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993646934711 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993646934711[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800800739465 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800800739465[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331273351948 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331273351948[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018804383265 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018804383265[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129056209158 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129056209158[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271965006494 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271965006494[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560213768886 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560213768886[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262696889563 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262696889563[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043559104455 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043559104455[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029211670021 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029211670021[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677017854906 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677017854906[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966954914357 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966954914357[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477266152749 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477266152749[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837727791648 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837727791648[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378061200458 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378061200458[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365309453146 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365309453146[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673104778337 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673104778337[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204052053649 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204052053649[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005186505691162 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005186505691162[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510116487828 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510116487828[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066460328613 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066460328613[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791221668961 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791221668961[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766381438171 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766381438171[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213070460403 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213070460403[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843582714733 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843582714733[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121953084581 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121953084581[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273396901659 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273396901659[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526969770157 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526969770157[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043540104085 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043540104085[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357078711919 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357078711919[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053032140382 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053032140382[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297971475787 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297971475787[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576576988553 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576576988553[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749436518753 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749436518753[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191347413763 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191347413763[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005141138702760 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005141138702760[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421992611163 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421992611163[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441163471952 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441163471952[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464957428005 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464957428005[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605271287868 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605271287868[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005117558988128 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005117558988128[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362295453796 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362295453796[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005363565842662 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005363565842662[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514977214297 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514977214297[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969198571641 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969198571641[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911817637927 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911817637927[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223640696770 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223640696770[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165024134482 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165024134482[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375222419791 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375222419791[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972608553717 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972608553717[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182695333533 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182695333533[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385704713470 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385704713470[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321027571033 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321027571033[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005984702967698 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005984702967698[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006250368457876 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006250368457876[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048578866107 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048578866107[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005657927089414 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005657927089414[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800879431754 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800879431754[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697836828688 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697836828688[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005598568288983 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005598568288983[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541866023403 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541866023403[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277822977159 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277822977159[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540935193780 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540935193780[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504176995151 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504176995151[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401718367814 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401718367814[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401195272094 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401195272094[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297617827577 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297617827577[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327229241554 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327229241554[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123410466497 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123410466497[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607260669557 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607260669557[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538378269489 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538378269489[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255636559770 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255636559770[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101802446995 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101802446995[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054498124326 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054498124326[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005943093269986 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005943093269986[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006202620165018 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006202620165018[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365093356546 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365093356546[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650232095417 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650232095417[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458756397369 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458756397369[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093869953107 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093869953107[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006959008180542 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006959008180542[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007000088349759 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007000088349759[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418402013997 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418402013997[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751990100841 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751990100841[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006228958090943 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006228958090943[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006255431885439 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006255431885439[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006330954306523 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006330954306523[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004885620300822 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004885620300822[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764764269637 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764764269637[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005880633109047 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005880633109047[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116956477074 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116956477074[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588427067043 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588427067043[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695752486196 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695752486196[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006303754939054 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006303754939054[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006385934898337 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006385934898337[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007253025822775 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007253025822775[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006898222508126 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006898222508126[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007035205322039 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007035205322039[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006674523654790 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006674523654790[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006385875420057 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006385875420057[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522111425504 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522111425504[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006248800943572 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006248800943572[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006322321595880 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006322321595880[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006608538289515 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006608538289515[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329638981856 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329638981856[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006464372919155 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006464372919155[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006196048727008 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006196048727008[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005997399716124 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005997399716124[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006244851816133 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006244851816133[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006007206961185 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006007206961185[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006253841022929 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006253841022929[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992980795051 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992980795051[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814049062458 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814049062458[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668053180842 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668053180842[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561723244529 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561723244529[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006379406613558 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006379406613558[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294335 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294335 ms (missed cycles : 2).[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992837451287 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992837451287[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006202724562040 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006202724562040[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006640906004872 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006640906004872[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006208914301955 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006208914301955[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005895275195274 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005895275195274[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006700264404669 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006700264404669[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006171503858118 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006171503858118[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807029118952 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807029118952[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006606884920912 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006606884920912[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058684768009 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058684768009[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005692016398567 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005692016398567[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005457877312767 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005457877312767[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005316283638313 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005316283638313[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235200744727 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235200744727[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006691191747076 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006691191747076[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006090351435482 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006090351435482[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006874194844231 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006874194844231[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006163601118918 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006163601118918[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005686523096176 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005686523096176[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007124335576785 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007124335576785[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006265136417073 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006265136417073[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684016354902 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684016354902[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951324585880 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951324585880[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006722323939062 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006722323939062[0m ×2 + 11.46sWARNcontroller_managerOverrun might occur, Total time : 1808.677 us (Expected < 1666.667 us) --> Read time : 101.665 us, Update time : 1381.805 us, Write time : 325.207 us + 11.46sWARNros2_control_nodeOverrun might occur, Total time : 1808.677 us (Expected < 1666.667 us) --> Read time : 101.665 us, Update time : 1381.805 us, Write time : 325.207 us[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006067382935536 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006067382935536[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924699058408 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924699058408[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684860741031 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684860741031[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008248601641569 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008248601641569[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006956952142896 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006956952142896[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007708975689698 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007708975689698[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006527917974177 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006527917974177[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005738444038071 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005738444038071[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007116543430823 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007116543430823[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006083960371018 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006083960371018[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007560803499196 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007560803499196[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006325335171028 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006325335171028[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007059701876622 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007059701876622[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005969767613513 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005969767613513[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389132796775 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389132796775[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007601858350699 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007601858350699[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641541883419 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641541883419[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006731989167865 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006731989167865[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008007956642279 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008007956642279[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009323185100004 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009323185100004[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007460469531630 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007460469531630[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008224569195910 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008224569195910[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008605038757856 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008605038757856[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652400474043 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652400474043[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006533265879076 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006533265879076[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007686484601995 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007686484601995[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010036728929689 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010036728929689[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007776445511056 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007776445511056[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008206071413004 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008206071413004[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008884791811455 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008884791811455[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006850876150383 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006850876150383[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008098471865293 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008098471865293[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005662543740307 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005662543740307[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007946311501355 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007946311501355[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008163694005427 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008163694005427[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008226170411214 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008226170411214[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008194341550450 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008194341550450[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008385616304793 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008385616304793[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008226822487499 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008226822487499[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008229771211499 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008229771211499[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008073613715521 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008073613715521[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007920088688645 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007920088688645[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008021401159152 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008021401159152[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774562378608 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774562378608[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005938539151335 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005938539151335[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010190804577710 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010190804577710[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010373676680382 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010373676680382[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009486106154089 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009486106154089[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008764364925342 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008764364925342[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009379651265798 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009379651265798[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008575783525932 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008575783525932[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008905975194816 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008905975194816[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008184161024621 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008184161024621[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007671066885614 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007671066885614[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008781603478314 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008781603478314[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008349513422708 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008349513422708[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009444723475120 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009444723475120[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008437244328064 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008437244328064[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007721081669193 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007721081669193[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008797188440386 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008797188440386[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007883136887451 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007883136887451[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008949533558380 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008949533558380[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006428976605892 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006428976605892[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009632554750229 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009632554750229[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011501662921149 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011501662921149[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009498439594834 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009498439594834[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010514056176601 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010514056176601[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008706103826504 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008706103826504[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009711791102808 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009711791102808[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008088292559308 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008088292559308[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009898501693769 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009898501693769[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010189582864874 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010189582864874[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008275702965329 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008275702965329[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009250349744826 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009250349744826[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007609439454858 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007609439454858[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009351510827537 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009351510827537[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009867349462896 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009867349462896[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937626116941 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937626116941[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009730003012401 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009730003012401[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007772495967162 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007772495967162[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009497582896118 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009497582896118[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007562141735606 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007562141735606[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009000237900463 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009000237900463[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009911261020133 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009911261020133[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007772062658514 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007772062658514[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844554399474 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844554399474[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006484962749468 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006484962749468[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008559733769789 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008559733769789[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009746356807811 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009746356807811[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012690452209834 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012690452209834[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868924193534 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868924193534[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007821577000996 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007821577000996[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013410964400733 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013410964400733[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013480754542204 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013480754542204[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012257275157545 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012257275157545[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011206247795175 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011206247795175[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011838912254054 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011838912254054[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010721987689134 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010721987689134[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009862075860580 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009862075860580[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011277188513788 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011277188513788[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010072908149453 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010072908149453[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010479892588750 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010479892588750[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046322 ms (missed cycles : 4). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046322 ms (missed cycles : 4).[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009449379586998 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009449379586998[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007616484207531 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007616484207531[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011801270533263 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011801270533263[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013882544705720 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013882544705720[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015081100284924 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015081100284924[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016406579437591 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016406579437591[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012633085093149 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012633085093149[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013548116291159 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013548116291159[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014792406796294 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014792406796294[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008440395574417 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008440395574417[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010563115357762 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010563115357762[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008414483116038 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008414483116038[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010373372710689 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010373372710689[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011014399548558 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011014399548558[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008101534373608 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008101534373608[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010201755856062 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010201755856062[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011347357971187 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011347357971187[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011857179530703 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011857179530703[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012894676853587 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012894676853587[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006493091950764 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006493091950764[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007040369413475 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007040369413475[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008750053758460 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008750053758460[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009755116577576 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009755116577576[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012932689901700 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012932689901700[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892737121350 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892737121350[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010408486166967 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010408486166967[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012076943546666 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012076943546666[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016335504056376 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016335504056376[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269593729946 ×2 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269593729946[0m ×4 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010235692632255 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010235692632255[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014159712545152 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014159712545152[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019103299302104 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019103299302104[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010348215712107 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010348215712107[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013166876336050 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013166876336050[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015792280282828 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015792280282828[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008214026477544 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008214026477544[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018264547928505 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018264547928505[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017784836614329 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017784836614329[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018943985890622 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018943985890622[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013222740773486 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013222740773486[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013222460392174 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013222460392174[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479151205862 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479151205862[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060812742594 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060812742594[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008816072172330 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008816072172330[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015306866323018 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015306866323018[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018476115079358 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018476115079358[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021485011068643 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021485011068643[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016472307821589 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016472307821589[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018080220936156 + 12.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018080220936156[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013783524053615 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013783524053615[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318613189273 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318613189273[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009509596083066 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009509596083066[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008218883406188 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008218883406188[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010695529091907 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010695529091907[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012797296676690 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012797296676690[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009966574537712 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009966574537712[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011126762642602 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011126762642602[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012952358879112 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012952358879112[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012291590176207 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012291590176207[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008810622959288 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008810622959288[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009083336959084 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009083336959084[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006742769935265 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006742769935265[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545029890449 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545029890449[0m ×2 + 12.79sWARNcontroller_managerOverrun might occur, Total time : 1748.574 us (Expected < 1666.667 us) --> Read time : 110.846 us, Update time : 1385.274 us, Write time : 252.454 us + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726299072894 + 12.80sWARNros2_control_nodeOverrun might occur, Total time : 1748.574 us (Expected < 1666.667 us) --> Read time : 110.846 us, Update time : 1385.274 us, Write time : 252.454 us[0m ×2 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726299072894[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620102586049 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620102586049[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941810340083 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941810340083[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007245515259060 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007245515259060[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008461534468296 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008461534468296[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008550221195707 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008550221195707[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008883907634172 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008883907634172[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004238105275904 + 12.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004238105275904[0m ×2 + 12.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617236780141 + 12.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617236780141[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006657369240200 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006657369240200[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006981639187245 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006981639187245[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467482808132 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467482808132[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006434700634399 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006434700634399[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045892510856 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045892510856[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605178439378 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605178439378[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006094671228664 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006094671228664[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777934304123 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777934304123[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308615863187 + 12.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308615863187[0m ×2 + 12.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256005489193 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256005489193[0m ×2 + 12.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910056234954 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910056234954[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351333379838 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351333379838[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281973140872 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281973140872[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856306226001 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856306226001[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086294702889 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086294702889[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102826501358 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102826501358[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875958826443 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875958826443[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955654736073 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955654736073[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715058202796 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715058202796[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812645024880 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812645024880[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556289791292 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556289791292[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416926797357 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416926797357[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914951855904 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914951855904[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622701028600 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622701028600[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494030966891 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494030966891[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190906662995 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190906662995[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162846197810 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162846197810[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555541196451 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555541196451[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923241957756 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923241957756[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949936841746 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949936841746[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616590833858 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616590833858[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444042553254 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444042553254[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655202434963 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655202434963[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808034231658 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808034231658[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863007620998 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863007620998[0m ×2 + 13.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893525916416 + 13.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893525916416[0m ×2 + 13.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258427394854 + 13.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258427394854[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600799958877 + 13.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600799958877[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706586157975 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706586157975[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038324594984 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003038324594984[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871786036392 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871786036392[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483976434633 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483976434633[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060502010233 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060502010233[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005172929365605 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005172929365605[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005079367232701 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005079367232701[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254041419526 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254041419526[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054490634920 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054490634920[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955945852772 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955945852772[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534245409403 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534245409403[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496966631955 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496966631955[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663388342243 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663388342243[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662970582247 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662970582247[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902620296721 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902620296721[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462351505699 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462351505699[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410601666053 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410601666053[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498135246386 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498135246386[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407775879886 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407775879886[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433586613017 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433586613017[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382181944034 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382181944034[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415270753239 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415270753239[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126039660514 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126039660514[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.008496 ms (missed cycles : 7). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.008496 ms (missed cycles : 7).[0m ×2 + 13.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205562889708 + 13.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205562889708[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608616244833 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608616244833[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006678887578986 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006678887578986[0m ×2 + 13.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008804063403027 + 13.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008804063403027[0m ×2 + 13.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009095981565432 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009095981565432[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009021980216264 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009021980216264[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011062597244176 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011062597244176[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929023623462 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929023623462[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009351836498333 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009351836498333[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011547913983962 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011547913983962[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011593979986313 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011593979986313[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009721012157650 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009721012157650[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010008761725301 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010008761725301[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008566688685339 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008566688685339[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009092606697261 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009092606697261[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007899890132876 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007899890132876[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120881708543 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120881708543[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008067777221536 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008067777221536[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007193699385283 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007193699385283[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008127625113318 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008127625113318[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007191207314360 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007191207314360[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006214871582459 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006214871582459[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008728661805106 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008728661805106[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009580032998709 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009580032998709[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008138915427475 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008138915427475[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007141031738563 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007141031738563[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008689592381434 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008689592381434[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007387169806487 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007387169806487[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008208386118930 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008208386118930[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007005667025097 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007005667025097[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007814274370393 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007814274370393[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006702648690253 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006702648690253[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007498259103697 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007498259103697[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465337475104 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465337475104[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005817348341092 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005817348341092[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007247383789602 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007247383789602[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523294191233 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523294191233[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007848406621032 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007848406621032[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006597238983796 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006597238983796[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007319672053714 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007319672053714[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006249590457036 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006249590457036[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006965443286995 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006965443286995[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005997569012933 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005997569012933[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006704609384787 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006704609384787[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005804384901008 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005804384901008[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007336499534600 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007336499534600[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006064106622074 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006064106622074[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005300049105534 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005300049105534[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006837694346282 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006837694346282[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007185536658534 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007185536658534[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018475420907 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018475420907[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007258722516674 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007258722516674[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005933721196868 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005933721196868[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006554668170655 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006554668170655[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509218963790 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509218963790[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006744200517665 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006744200517665[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056271540276 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056271540276[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706198996831 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706198996831[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006791355881051 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006791355881051[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549664351299 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549664351299[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549265542000 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549265542000[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286754743612 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286754743612[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006247822677719 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006247822677719[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006671747736964 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006671747736964[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006753661892871 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006753661892871[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367256529366 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367256529366[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006125378281450 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006125378281450[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006615190792352 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006615190792352[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213175777021 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213175777021[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137222641433 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137222641433[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931233137635 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931233137635[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844680238154 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844680238154[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006232030591473 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006232030591473[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006366692683920 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006366692683920[0m ×2 + 13.86sWARNcontroller_managerOverrun might occur, Total time : 7121.594 us (Expected < 1666.667 us) --> Read time : 189.150 us, Update time : 6464.189 us, Write time : 468.255 us + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004955878757485 + 13.86sWARNros2_control_nodeOverrun might occur, Total time : 7121.594 us (Expected < 1666.667 us) --> Read time : 189.150 us, Update time : 6464.189 us, Write time : 468.255 us[0m ×2 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004955878757485[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282960113894 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282960113894[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964391298382 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964391298382[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553705504670 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553705504670[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754719974030 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754719974030[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006546416446872 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006546416446872[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523232375325 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523232375325[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006766970684994 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006766970684994[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710841666923 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710841666923[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006512395688928 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006512395688928[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006742432041518 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006742432041518[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006470199439879 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006470199439879[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006170522490898 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006170522490898[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005928774982051 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005928774982051[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006656045172158 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006656045172158[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176427442001 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176427442001[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557887924492 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557887924492[0m ×2 + 14.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137817269835 + 14.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137817269835[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005407605542868 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005407605542868[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007724048601658 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007724048601658[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005140159749012 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005140159749012[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712282060715 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712282060715[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046326571890 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046326571890[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005643680729992 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005643680729992[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004693383321082 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004693383321082[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773175343283 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773175343283[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006945600404574 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006945600404574[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005228693044328 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005228693044328[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005856605019190 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005856605019190[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314265557941 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314265557941[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526544015439 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526544015439[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005491489997177 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005491489997177[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004842423750335 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004842423750335[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695405934661 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695405934661[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233919213630 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233919213630[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637340464322 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637340464322[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758469762602 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758469762602[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572542900267 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572542900267[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746106259165 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746106259165[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399336252920 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399336252920[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605834926820 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605834926820[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564752599600 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564752599600[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311365313737 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311365313737[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451528259272 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451528259272[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964029321507 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964029321507[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123011507395 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123011507395[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003814766628552 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003814766628552[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873027885941 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873027885941[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998483784867 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998483784867[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847134845935 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847134845935[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149626503653 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149626503653[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315253687137 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315253687137[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479177776939 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479177776939[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410879269825 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410879269825[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006354087165570 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006354087165570[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820033598966 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820033598966[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002371979363067 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002371979363067[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012580780756446 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012580780756446[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000534452701158 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000534452701158[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006149514182391 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006149514182391[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003966794387487 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003966794387487[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369757902117 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369757902117[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777214570967 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777214570967[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666368548844 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666368548844[0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032085 ms (missed cycles : 5). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032085 ms (missed cycles : 5).[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098092550189 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098092550189[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812478506531 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812478506531[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011251620206175 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011251620206175[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109136759897 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109136759897[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007202063064781 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007202063064781[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747560179343 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002747560179343[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007577847855857 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007577847855857[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001990069089118 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001990069089118[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961485636533 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961485636533[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000539935508127 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000539935508127[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103851175953 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103851175953[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001957639600303 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001957639600303[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627161799490 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627161799490[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002800447650618 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002800447650618[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395244269656 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395244269656[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001720583450555 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001720583450555[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006896103524905 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006896103524905[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006262877046 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006262877046[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007543829340903 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007543829340903[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665819359231 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665819359231[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007717555730373 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007717555730373[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000677721430279 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000677721430279[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005762550504869 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005762550504869[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000402799567709 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000402799567709[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547172228871 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547172228871[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003115603960382 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003115603960382[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002155434834383 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002155434834383[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000831657493323 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000831657493323[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629647190728 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629647190728[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001690305340947 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001690305340947[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542265925936 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542265925936[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001443200801801 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001443200801801[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948833999554 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948833999554[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001198740910485 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001198740910485[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208633600458 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208633600458[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000555318719628 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000555318719628[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691369429008 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691369429008[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001968558214807 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001968558214807[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001512904443708 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001512904443708[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001879270646329 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001879270646329[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002174234557735 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002174234557735[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002202065133260 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002202065133260[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802391182885 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802391182885[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002909263523947 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002909263523947[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000561776716502 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000561776716502[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002453131198448 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002453131198448[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001598575488661 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001598575488661[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001402945502541 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001402945502541[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002059135183476 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002059135183476[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000833673172121 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000833673172121[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614494733012 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614494733012[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001541407027992 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001541407027992[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001061226083096 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001061226083096[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001435952895855 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001435952895855[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753944574582 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753944574582[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000378791794533 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000378791794533[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002260238750506 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002260238750506[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306083570956 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306083570956[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127702351549 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127702351549[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000513834020835 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000513834020835[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361925307396 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361925307396[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144406455925 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144406455925[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001966338972740 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001966338972740[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000209412034878 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000209412034878[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849261347226 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849261347226[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776086765157 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776086765157[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822902168661 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822902168661[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107482853155 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107482853155[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684893590010 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684893590010[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002179587833071 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002179587833071[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389224158804 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389224158804[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411947800292 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411947800292[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394913133852 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394913133852[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001586914885966 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001586914885966[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198923495650 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198923495650[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001858608090986 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001858608090986[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257284558786 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257284558786[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001658721935846 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001658721935846[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541565936125 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541565936125[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455975106500 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455975106500[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009143655540 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009143655540[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275609625073 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275609625073[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002141827855122 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002141827855122[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000671819771865 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000671819771865[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002064562905028 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002064562905028[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332555150143 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332555150143[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623618676484 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623618676484[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000157115779262 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000157115779262[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708584905352 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708584905352[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000431995791281 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000431995791281[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622461595833 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622461595833[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000348097063103 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000348097063103[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002219958503723 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002219958503723[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004826638072 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004826638072[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054286829138 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054286829138[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000556601062816 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000556601062816[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673517789777 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673517789777[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000859369364575 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000859369364575[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424784026055 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424784026055[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000981569785291 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000981569785291[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274623760917 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274623760917[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001144896035264 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001144896035264[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000689095459481 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000689095459481[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000491698292919 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000491698292919[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001058839615144 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001058839615144[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063384240926 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063384240926[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001240466635900 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001240466635900[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000489034014736 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000489034014736[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000841576547897 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000841576547897[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201061494520 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201061494520[0m ×2 + 15.12sWARNcontroller_managerOverrun might occur, Total time : 2461.743 us (Expected < 1666.667 us) --> Read time : 143.218 us, Update time : 2010.828 us, Write time : 307.697 us + 15.12sWARNros2_control_nodeOverrun might occur, Total time : 2461.743 us (Expected < 1666.667 us) --> Read time : 143.218 us, Update time : 2010.828 us, Write time : 307.697 us[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000850435616398 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000850435616398[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000282119486692 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000282119486692[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475974410200 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475974410200[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000965902153983 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000965902153983[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011045897701 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011045897701[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000698731956274 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000698731956274[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000537896235585 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000537896235585[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000999071384469 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000999071384469[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492734053724 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492734053724[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000763900333352 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000763900333352[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000540186908262 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000540186908262[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000316850912525 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000316850912525[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000658467472716 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000658467472716[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312620733588 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312620733588[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001038656961104 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001038656961104[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001455588561339 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001455588561339[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000298233049546 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000298233049546[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001278787334196 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001278787334196[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604944183725 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000604944183725[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000254919302576 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000254919302576[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000276878651464 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000276878651464[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000651441094341 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000651441094341[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369310347682 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369310347682[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260429040067 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260429040067[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000337104423118 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000337104423118[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000583405653652 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000583405653652[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000388051363652 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000388051363652[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258397553823 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258397553823[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000315613931308 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000315613931308[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000441538669274 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000441538669274[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729049052827 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729049052827[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238488068089 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238488068089[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000895446814009 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000895446814009[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000389165087521 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000389165087521[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099023523237 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099023523237[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205297800705 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205297800705[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873305 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873305 ms (missed cycles : 2).[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000627115152195 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000627115152195[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001107504287 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001107504287[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567728930335 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000567728930335[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079605229263 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079605229263[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000573478179899 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000573478179899[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270719810125 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270719810125[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000376007740086 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000376007740086[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171549794679 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171549794679[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000398032741008 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000398032741008[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223288974396 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223288974396[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243001912232 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243001912232[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000340471029891 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000340471029891[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144327539463 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144327539463[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407082457886 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407082457886[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085991136743 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085991136743[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000469301250327 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000469301250327[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076893605325 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076893605325[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000405606537244 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000405606537244[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000197898946448 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000197898946448[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000207761004496 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000207761004496[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000366224299935 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000366224299935[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075719946305 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075719946305[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000474382409513 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000474382409513[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133833893906 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133833893906[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211850275093 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211850275093[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000465407765293 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000465407765293[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480399649881 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480399649881[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078004810184 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078004810184[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000383390269227 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000383390269227[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175813956248 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175813956248[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591590163388 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591590163388[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000231010415538 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000231010415538[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000433159990969 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000433159990969[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042273753116 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042273753116[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558934432372 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558934432372[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257135801433 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257135801433[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571432258663 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571432258663[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279746584333 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279746584333[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000581717967746 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000581717967746[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141396188849 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141396188849[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000494460822532 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000494460822532[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098743686089 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098743686089[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435815141572 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435815141572[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000141258240874 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000141258240874[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086067640367 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086067640367[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288324331881 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288324331881[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032258842461 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032258842461[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274579036052 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274579036052[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222472068683 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222472068683[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043960508718 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043960508718[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232597280421 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232597280421[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077260050909 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077260050909[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218116169491 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218116169491[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000214207611550 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000214207611550[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069013684655 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069013684655[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000238722890073 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000238722890073[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019451067233 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019451067233[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000380839575409 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000380839575409[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257370289961 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257370289961[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004709665007 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004709665007[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228897657099 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228897657099[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017677104941 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017677104941[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000252989921969 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000252989921969[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029779077769 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029779077769[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000268497003180 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000268497003180[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034946878345 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034946878345[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000278610913946 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000278610913946[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035747858969 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035747858969[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000285706221163 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000285706221163[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111609110961 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111609110961[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104793919543 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104793919543[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223517320653 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223517320653[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272672352076 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272672352076[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049381901079 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049381901079[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210483102352 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210483102352[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106218507474 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106218507474[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325808065568 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325808065568[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116225767560 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116225767560[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236911872890 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236911872890[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049273960013 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049273960013[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318399845208 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318399845208[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131392233822 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131392233822[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186667519361 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186667519361[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075565299733 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075565299733[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120083871736 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120083871736[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064179371724 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064179371724[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127354128053 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127354128053[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088143565490 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088143565490[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080807461487 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080807461487[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135858154003 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135858154003[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051815411773 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051815411773[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000168456320763 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000168456320763[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035250450349 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035250450349[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206447871341 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206447871341[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029417666380 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029417666380[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087430682892 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087430682892[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118777659170 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118777659170[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091459942260 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091459942260[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000068385311589 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000068385311589[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096713262917 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096713262917[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090750421687 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090750421687[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093251254505 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093251254505[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000068267174425 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000068267174425[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048287989971 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048287989971[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089038403895 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089038403895[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052704359042 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052704359042[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000107361167648 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000107361167648[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078044634850 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078044634850[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076396724024 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076396724024[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113713082558 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113713082558[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042220366266 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042220366266[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041632119430 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041632119430[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089810189159 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089810189159[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019943721604 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019943721604[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126368985050 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126368985050[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005523829789 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005523829789[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154568318491 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154568318491[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064781945347 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064781945347[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028824406547 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028824406547[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054203910853 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054203910853[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089921889644 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089921889644[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112448032178 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112448032178[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016679883842 + 16.24sWARNcontroller_managerOverrun might occur, Total time : 1758.714 us (Expected < 1666.667 us) --> Read time : 1043.706 us, Update time : 410.012 us, Write time : 304.996 us + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016679883842[0m ×2 + 16.24sWARNros2_control_nodeOverrun might occur, Total time : 1758.714 us (Expected < 1666.667 us) --> Read time : 1043.706 us, Update time : 410.012 us, Write time : 304.996 us[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075401102064 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075401102064[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059702860811 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059702860811[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066226921747 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066226921747[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038534293210 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038534293210[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067074250938 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067074250938[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055747344034 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055747344034[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037695596370 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037695596370[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087998433396 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087998433396[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006837280886 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006837280886[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089462396974 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089462396974[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022395411364 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022395411364[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081661510175 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081661510175[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050805983670 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050805983670[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057262223004 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057262223004[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079252900474 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079252900474[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014177679860 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014177679860[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098012516015 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098012516015[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029756945528 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029756945528[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080305748743 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080305748743[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055051661392 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055051661392[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023165611776 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023165611776[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065227097866 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065227097866[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029687211130 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029687211130[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047096576115 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047096576115[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051012290859 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051012290859[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 22.914560 ms (missed cycles : 14). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 22.914560 ms (missed cycles : 14).[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024614868601 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024614868601[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071817773002 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071817773002[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029103902830 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029103902830[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044401371383 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044401371383[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059022353344 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059022353344[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025800927544 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025800927544[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081432397742 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081432397742[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029897442008 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029897442008[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095975523025 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095975523025[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040920030969 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040920030969[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120738766970 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120738766970[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040851888823 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040851888823[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045835144647 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045835144647[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031656216174 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031656216174[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032443056326 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032443056326[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048098568491 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048098568491[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016018928527 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016018928527[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048054871394 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048054871394[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027311574773 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027311574773[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029275634448 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029275634448[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048395605454 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048395605454[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016664024352 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016664024352[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064336256473 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064336256473[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008646644535 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008646644535[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087010961105 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087010961105[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040796158009 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040796158009[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087748438703 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087748438703[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041827680622 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041827680622[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092273855853 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092273855853[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017980274464 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017980274464[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049671290566 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049671290566[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004250239615 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004250239615[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039173387978 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039173387978[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040160612852 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040160612852[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073506767311 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073506767311[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018743889555 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018743889555[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054547283097 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054547283097[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025784884242 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025784884242[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048185286790 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048185286790[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015144581805 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015144581805[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019759734860 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019759734860[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032927476515 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032927476515[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012885269729 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012885269729[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046546639844 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046546639844[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008663181765 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008663181765[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029093197716 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029093197716[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020182828200 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020182828200[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023404084753 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023404084753[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027316254640 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027316254640[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014833385662 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014833385662[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038357778645 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038357778645[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009065441489 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009065441489[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047165096247 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047165096247[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018712808831 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018712808831[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052526177371 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052526177371[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022880175979 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022880175979[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062658362475 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062658362475[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021435848049 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021435848049[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013071398016 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013071398016[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021608220816 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021608220816[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034958046437 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034958046437[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047018107296 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047018107296[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008463670728 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008463670728[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036115865219 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036115865219[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004433140515 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004433140515[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034519615270 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034519615270[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001043596490 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001043596490[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033755840038 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033755840038[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001681341724 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001681341724[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033820161314 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033820161314[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003793445704 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003793445704[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034650581157 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034650581157[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023585182192 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023585182192[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011385385973 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011385385973[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030162491102 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030162491102[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005931900197 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005931900197[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021330211772 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021330211772[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011271831441 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011271831441[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019736117033 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019736117033[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015747127246 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015747127246[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014585972572 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014585972572[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022794055870 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022794055870[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008244277469 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008244277469[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022849912830 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022849912830[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013777301762 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013777301762[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014032767405 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014032767405[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024001739336 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024001739336[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008197414649 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008197414649[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031794324562 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031794324562[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012109730436 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012109730436[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036878189582 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036878189582[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015826844391 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015826844391[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037467361035 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037467361035[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028371372980 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028371372980[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004499081240 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004499081240[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022290807814 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022290807814[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011866296261 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011866296261[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013950174435 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013950174435[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009641479024 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009641479024[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015216371659 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015216371659[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012893916159 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012893916159[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009127627408 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009127627408[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020182716348 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020182716348[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005191329420 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005191329420[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025758142173 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025758142173[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010289302437 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010289302437[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029308575645 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029308575645[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000523036771 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000523036771[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020085342435 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020085342435[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590981132 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590981132[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013817333353 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013817333353[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018193730630 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018193730630[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003093704240 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003093704240[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023554566780 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023554566780[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007273555247 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007273555247[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031540677302 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031540677302[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000328745979 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000328745979[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017643300523 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017643300523[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003716758338 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003716758338[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024809048647 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024809048647[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024544978767 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024544978767[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006234944189 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006234944189[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019617435923 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019617435923[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004674275010 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004674275010[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018726449428 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018726449428[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002491232055 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002491232055[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018827657815 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018827657815[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001405915022 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001405915022[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019338798969 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019338798969[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001478637051 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001478637051[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009057652998 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009057652998[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009204109876 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009204109876[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005783662234 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005783662234[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015150126207 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015150126207[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010527310765 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010527310765[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006780765467 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006780765467[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006678276063 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006678276063[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014026156004 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014026156004[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017802642457 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017802642457[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003039501970 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003039501970[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013971345440 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013971345440[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007088483335 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007088483335[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009435084702 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009435084702[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005425878104 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005425878104[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003249827831 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003249827831[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017348270320 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017348270320[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005260145189 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005260145189[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011034253833 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011034253833[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171603196 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171603196[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126412 ms (missed cycles : 4). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126412 ms (missed cycles : 4).[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011869463039 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011869463039[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009903543982 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009903543982[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002886409099 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002886409099[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010620350981 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010620350981[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004754264482 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004754264482[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010512071330 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010512071330[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003008533234 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003008533234[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006734921457 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006734921457[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005111396740 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005111396740[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006973225973 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006973225973[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007486233823 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007486233823[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004987049117 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004987049117[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004714947924 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004714947924[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003685188178 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003685188178[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008691478118 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008691478118[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010724919031 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010724919031[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003602424193 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003602424193[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004597674340 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004597674340[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009294126485 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009294126485[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006506117340 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006506117340[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006228042122 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006228042122[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000576104806 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000576104806[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013076416029 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013076416029[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002754115467 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002754115467[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007860205125 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007860205125[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006045424318 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006045424318[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006663759826 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006663759826[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007863189904 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007863189904[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001222125560 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001222125560[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010763402079 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010763402079[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003400851737 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003400851737[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009517827619 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009517827619[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002358975955 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002358975955[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008708784686 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008708784686[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002710181532 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002710181532[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005972079523 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005972079523[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005927772817 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005927772817[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002329177403 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002329177403[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002354866129 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002354866129[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009660559472 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009660559472[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007484503184 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007484503184[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000287285008 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000287285008[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006040774520 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006040774520[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000516193595 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000516193595[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006353327519 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006353327519[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000739224338 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000739224338[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006717142648 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006717142648[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001244429740 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001244429740[0m ×2 + 17.79sWARNcontroller_managerOverrun might occur, Total time : 2069.092 us (Expected < 1666.667 us) --> Read time : 337.998 us, Update time : 90.405 us, Write time : 1640.689 us + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002795856836 + 17.80sWARNros2_control_nodeOverrun might occur, Total time : 2069.092 us (Expected < 1666.667 us) --> Read time : 337.998 us, Update time : 90.405 us, Write time : 1640.689 us[0m ×2 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002795856836[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006392080817 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006392080817[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003436033603 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003436033603[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003115871274 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003115871274[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000767444023 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000767444023[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008839159563 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008839159563[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001391798312 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001391798312[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005784577969 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005784577969[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000918159797 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000918159797[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006234672120 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006234672120[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000829021791 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000829021791[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006649335777 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006649335777[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716599511 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716599511[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007074580905 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007074580905[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002789811807 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002789811807[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002816149267 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002816149267[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000661088708 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000661088708[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007358605763 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007358605763[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001262283479 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001262283479[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004634913835 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004634913835[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001580895016 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001580895016[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003290561240 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003290561240[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004395345661 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004395345661[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001078300892 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001078300892[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002340151392 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002340151392[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002823262693 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002823262693[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001332453445 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001332453445[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004545797130 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004545797130[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000669502849 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000669502849[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003081678884 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003081678884[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001561587688 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001561587688[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003100722375 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003100722375[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002677745952 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002677745952[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002233526808 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002233526808[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001673749199 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001673749199[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002806247741 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002806247741[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001985555261 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001985555261[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002013666196 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002013666196[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003036068529 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003036068529[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001493874787 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001493874787[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003874783980 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003874783980[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001177413926 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001177413926[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004569489306 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004569489306[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000911893298 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000911893298[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001945948822 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001945948822[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002923003838 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002923003838[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001071690903 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001071690903[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002840398936 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002840398936[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001510513145 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001510513145[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003840710476 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003840710476[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004059759798 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004059759798[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364863022 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364863022[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003098184180 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003098184180[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002200079931 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002200079931[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002872951672 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002872951672[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001332395743 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001332395743[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000977025642 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000977025642[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002634442826 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002634442826[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000454149815 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000454149815[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003645946666 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003645946666[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131927367 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131927367[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002428364368 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002428364368[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000879138094 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000879138094[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002339259451 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002339259451[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000502705893 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000502705893[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002925303441 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002925303441[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000283192485 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000283192485[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003400213027 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003400213027[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000274751146 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000274751146[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001640171382 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001640171382[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002930965107 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002930965107[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001745867900 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001745867900[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001204904205 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001204904205[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000601512803 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000601512803[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003412111380 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003412111380[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001063604406 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001063604406[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002110260952 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002110260952[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000016903789687 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000016903789687[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002251044271 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002251044271[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000017922251868 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000017922251868[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002398492527 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002398492527[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129587121 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129587121[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002561338024 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002561338024[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173016514 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173016514[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002744945124 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002744945124[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001584225687 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001584225687[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000986154067 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000986154067[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000602370262 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000602370262[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002808517381 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002808517381[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000983874115 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000983874115[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001686338015 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001686338015[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000926345553 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000926345553[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001096425586 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001096425586[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001650019490 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001650019490[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000699703224 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000699703224[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002549467170 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002549467170[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001039277408 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001039277408[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002789426761 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002789426761[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001212340435 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001212340435[0m ×2 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195792 ms (missed cycles : 2). + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003307653359 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003307653359[0m ×2 + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195792 ms (missed cycles : 2).[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001208291998 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001208291998[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001162034074 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001162034074[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000346685625 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000346685625[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001471414156 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001471414156[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001003076035 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001003076035[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001027966456 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001027966456[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001579233870 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001579233870[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000326197910 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000326197910[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001986315076 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001986315076[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000645399433 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000645399433[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002143648087 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002143648087[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000012344500589 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000012344500589[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001194099564 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001194099564[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000599820855 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000599820855[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001037613212 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001037613212[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000493647556 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000493647556[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001266301569 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001266301569[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421445547 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421445547[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001474553651 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001474553651[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000359717501 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000359717501[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000600634268 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000600634268[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001032133155 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001032133155[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000319171592 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000319171592[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001558587492 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001558587492[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140403440 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140403440[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001055857891 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001055857891[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000538426061 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000538426061[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000902587955 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000902587955[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328903347 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328903347[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001306089236 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001306089236[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000185998908 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000185998908[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000846962828 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000846962828[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000243733893 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000243733893[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001332968360 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001332968360[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001091121680 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001091121680[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009299201310 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009299201310[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000884537053 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000884537053[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000636305885 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000636305885[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000868674540 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000868674540[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000492360015 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000492360015[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001118337876 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001118337876[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000299700899 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000299700899[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001283225966 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001283225966[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000440918832 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000440918832[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001155539366 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001155539366[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001094898858 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001094898858[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000228482473 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000228482473[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000665889397 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000665889397[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153192653 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153192653[0m ×2 + 18.82sWARNcontroller_managerOverrun might occur, Total time : 3863.678 us (Expected < 1666.667 us) --> Read time : 126.827 us, Update time : 3355.121 us, Write time : 381.730 us + 18.83sWARNros2_control_nodeOverrun might occur, Total time : 3863.678 us (Expected < 1666.667 us) --> Read time : 126.827 us, Update time : 3355.121 us, Write time : 381.730 us[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000809985353 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000809985353[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000627388428 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000627388428[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000265321694 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000265321694[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001009732836 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001009732836[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001006209618 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001006209618[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004251443183 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004251443183[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001225885997 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001225885997[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000701835907 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000701835907[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132855494 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132855494[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000625161018 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000625161018[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000715178540 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000715178540[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001465831259 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001465831259[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000507385833 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000507385833[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001051378756 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001051378756[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292673903 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292673903[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000918540690 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000918540690[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004754736790 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004754736790[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000415158294 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000415158294[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000478968729 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000478968729[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000222544664 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000222544664[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000817999276 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000817999276[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005705099548 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005705099548[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573963898 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573963898[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000284882736 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000284882736[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000499316063 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000499316063[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000177354629 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000177354629[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000715968848 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000715968848[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004594541459 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004594541459[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000462168708 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000462168708[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135941532 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135941532[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000720170166 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000720170166[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000607812840 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000607812840[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005153016698 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005153016698[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000494383078 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000494383078[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000439401950 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000439401950[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000850563588 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000850563588[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000232443940 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000232443940[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000466899894 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000466899894[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000191643689 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000191643689[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000562011512 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000562011512[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000162509692 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000162509692[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000650800668 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000650800668[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000220903539 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000220903539[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000447083269 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000447083269[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000229651333 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000229651333[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430697746 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430697746[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000134554671 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000134554671[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000542281097 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000542281097[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003217803186 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003217803186[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000590674948 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000590674948[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003536279469 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003536279469[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000644424316 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000644424316[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000244014523 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000244014523[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433367842 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433367842[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000123699863 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000123699863[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000554974328 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000554974328[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189516802 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189516802[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000370122878 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000370122878[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000209889906 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000209889906[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000221028150 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000221028150[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000463748742 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000463748742[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000145922301 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000145922301[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000209084246 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000209084246[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000246001876 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000246001876[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000203644836 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000203644836[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000184975487 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000184975487[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000293427260 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000293427260[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000140560585 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000140560585[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000370859779 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000370859779[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000360966979 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000360966979[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002054066323 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002054066323[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000401879343 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000401879343[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002396317096 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002396317096[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000449418085 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000449418085[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517088079 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517088079[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279563511 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279563511[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000257083924 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000257083924[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001614024519 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001614024519[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337696649 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337696649[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000125959186 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000125959186[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000154019177 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000154019177[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000176687504 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000176687504[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169558345 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169558345[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000367064383 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000367064383[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143557981 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143557981[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000334786018 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000334786018[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002476710977 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002476710977[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002484606358 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002484606358[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000285831630 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000285831630[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000218603131 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000218603131[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001711202054 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001711202054[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000294986814 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000294986814[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001401645613 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001401645613[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000395791865 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000395791865[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001865523120 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001865523120[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000221435784 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000221435784[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000261079668 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000261079668[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002485804790 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002485804790[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000145433725 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000145433725[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000261234673 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000261234673[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002528292791 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002528292791[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002071814286 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002071814286[0m ×2 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932646 ms (missed cycles : 4). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932646 ms (missed cycles : 4).[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137644765 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137644765[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000125304271 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000125304271[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215646926 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215646926[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000154110434 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000154110434[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002338094698 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002338094698[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001926173769 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001926173769[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002695076834 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002695076834[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002141661068 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002141661068[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000202354248 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000202354248[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002105746585 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002105746585[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002123854940 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002123854940[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144487175 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144487175[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216291980 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216291980[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001617503875 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001617503875[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001348918389 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001348918389[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000119843908 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000119843908[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001617526214 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001617526214[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001416570482 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001416570482[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001371021589 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001371021589[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001392522481 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001392522481[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000126479487 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000126479487[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001406405783 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001406405783[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001112130472 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001112130472[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001175305309 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001175305309[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001563346039 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001563346039[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001236202413 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001236202413[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043912435 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043912435[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001434309524 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001434309524[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001435031789 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001435031789[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001171894705 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001171894705[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001408222570 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001408222570[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001629373834 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001629373834[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001296357583 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001296357583[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001308007800 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001308007800[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001069332556 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001069332556[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156090488 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156090488[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000133969703 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000133969703[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001446806403 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001446806403[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001163185001 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001163185001[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001194901577 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001194901577[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001385606499 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001385606499[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001296520975 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001296520975[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000816284771 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000816284771[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000821957774 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000821957774[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000656271466 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000656271466[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000525344087 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000525344087[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000527554911 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000527554911[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000423874205 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000423874205[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000428283833 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000428283833[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000349669933 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000349669933[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000380511046 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000380511046[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000723885447 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000723885447[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000859259651 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000859259651[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000680923820 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000680923820[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000683392220 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000683392220[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000543631147 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000543631147[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000544086675 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000544086675[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000431901130 ×2 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000431901130[0m ×4 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000343302234 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000343302234[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000272729278 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000272729278[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000172035385 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000172035385[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000136650633 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000136650633[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000123700041 ×2 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000123700041[0m ×4 + 19.99sINFOjoint_trajectory_controllerAccepted new action goal ×611 + 19.99sINFOros2_control_nodeAccepted new action goal[0m ×1222 + 20.02sWARNcontroller_managerOverrun might occur, Total time : 6029.815 us (Expected < 1666.667 us) --> Read time : 194.441 us, Update time : 5335.947 us, Write time : 499.427 us + 20.02sWARNros2_control_nodeOverrun might occur, Total time : 6029.815 us (Expected < 1666.667 us) --> Read time : 194.441 us, Update time : 5335.947 us, Write time : 499.427 us[0m ×2 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116667 ms (missed cycles : 3). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116667 ms (missed cycles : 3).[0m ×2 + 21.03sWARNcontroller_managerOverrun might occur, Total time : 3621.276 us (Expected < 1666.667 us) --> Read time : 183.740 us, Update time : 3081.916 us, Write time : 355.620 us + 21.03sWARNros2_control_nodeOverrun might occur, Total time : 3621.276 us (Expected < 1666.667 us) --> Read time : 183.740 us, Update time : 3081.916 us, Write time : 355.620 us[0m ×2 + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.724640 ms (missed cycles : 7). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.724640 ms (missed cycles : 7).[0m ×2 + 22.37sWARNcontroller_managerOverrun might occur, Total time : 4519.473 us (Expected < 1666.667 us) --> Read time : 4035.687 us, Update time : 94.185 us, Write time : 389.601 us + 22.37sWARNros2_control_nodeOverrun might occur, Total time : 4519.473 us (Expected < 1666.667 us) --> Read time : 4035.687 us, Update time : 94.185 us, Write time : 389.601 us[0m ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931880 ms (missed cycles : 2). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931880 ms (missed cycles : 2).[0m ×2 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2).[0m ×2 + 23.63sWARNcontroller_managerOverrun might occur, Total time : 7937.858 us (Expected < 1666.667 us) --> Read time : 1824.229 us, Update time : 5649.074 us, Write time : 464.555 us + 23.63sWARNros2_control_nodeOverrun might occur, Total time : 7937.858 us (Expected < 1666.667 us) --> Read time : 1824.229 us, Update time : 5649.074 us, Write time : 464.555 us[0m ×2 + 24.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780951002.62027454 seconds ×3 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116753 ms (missed cycles : 3). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116753 ms (missed cycles : 3).[0m ×2 + 24.67sINFOjoint_trajectory_controllerGoal reached, success! + 24.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 24.80sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780951003.19653034 seconds. ×3 + 24.82sWARNcontroller_managerOverrun might occur, Total time : 5925.130 us (Expected < 1666.667 us) --> Read time : 152.338 us, Update time : 5353.459 us, Write time : 419.333 us + 24.83sWARNros2_control_nodeOverrun might occur, Total time : 5925.130 us (Expected < 1666.667 us) --> Read time : 152.338 us, Update time : 5353.459 us, Write time : 419.333 us[0m ×2 + 24.95sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 24.95sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 24.97sINFOros2_control_node[2026-06-08 20:36:43.360] [info] Received new action goal ×2 + 24.97sINFOros2_control_node[2026-06-08 20:36:43.360] [info] Accepted new action goal ×2 + 25.10sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view" + 25.10sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732282 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732282 ms (missed cycles : 3).[0m ×2 + 25.98sWARNcontroller_managerOverrun might occur, Total time : 1820.908 us (Expected < 1666.667 us) --> Read time : 163.099 us, Update time : 421.132 us, Write time : 1236.677 us + 25.98sWARNros2_control_nodeOverrun might occur, Total time : 1820.908 us (Expected < 1666.667 us) --> Read time : 163.099 us, Update time : 421.132 us, Write time : 1236.677 us[0m ×2 + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411048 ms (missed cycles : 2). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411048 ms (missed cycles : 2).[0m ×2 + 27.18sWARNcontroller_managerOverrun might occur, Total time : 1892.904 us (Expected < 1666.667 us) --> Read time : 1523.123 us, Update time : 51.893 us, Write time : 317.888 us + 27.19sWARNros2_control_nodeOverrun might occur, Total time : 1892.904 us (Expected < 1666.667 us) --> Read time : 1523.123 us, Update time : 51.893 us, Write time : 317.888 us[0m ×2 + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296689 ms (missed cycles : 3). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296689 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 | 12.4s | 3 errors · 102 warnings · 2999 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×480 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×480 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×960 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×960 + 0.13sWARNcontroller_managerOverrun might occur, Total time : 3621.276 us (Expected < 1666.667 us) --> Read time : 183.740 us, Update time : 3081.916 us, Write time : 355.620 us + 0.13sWARNros2_control_nodeOverrun might occur, Total time : 3621.276 us (Expected < 1666.667 us) --> Read time : 183.740 us, Update time : 3081.916 us, Write time : 355.620 us[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.724640 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.724640 ms (missed cycles : 7).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 4519.473 us (Expected < 1666.667 us) --> Read time : 4035.687 us, Update time : 94.185 us, Write time : 389.601 us + 1.48sWARNros2_control_nodeOverrun might occur, Total time : 4519.473 us (Expected < 1666.667 us) --> Read time : 4035.687 us, Update time : 94.185 us, Write time : 389.601 us[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931880 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931880 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2).[0m ×2 + 2.73sWARNcontroller_managerOverrun might occur, Total time : 7937.858 us (Expected < 1666.667 us) --> Read time : 1824.229 us, Update time : 5649.074 us, Write time : 464.555 us + 2.73sWARNros2_control_nodeOverrun might occur, Total time : 7937.858 us (Expected < 1666.667 us) --> Read time : 1824.229 us, Update time : 5649.074 us, Write time : 464.555 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780951002.62027454 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116753 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116753 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780951003.19653034 seconds. ×3 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 5925.130 us (Expected < 1666.667 us) --> Read time : 152.338 us, Update time : 5353.459 us, Write time : 419.333 us + 3.93sWARNros2_control_nodeOverrun might occur, Total time : 5925.130 us (Expected < 1666.667 us) --> Read time : 152.338 us, Update time : 5353.459 us, Write time : 419.333 us[0m ×2 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.07sINFOros2_control_node[2026-06-08 20:36:43.360] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-08 20:36:43.360] [info] Accepted new action goal ×2 + 4.20sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view" + 4.20sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732282 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732282 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 1820.908 us (Expected < 1666.667 us) --> Read time : 163.099 us, Update time : 421.132 us, Write time : 1236.677 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 1820.908 us (Expected < 1666.667 us) --> Read time : 163.099 us, Update time : 421.132 us, Write time : 1236.677 us[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411048 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411048 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 1892.904 us (Expected < 1666.667 us) --> Read time : 1523.123 us, Update time : 51.893 us, Write time : 317.888 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 1892.904 us (Expected < 1666.667 us) --> Read time : 1523.123 us, Update time : 51.893 us, Write time : 317.888 us[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296689 ms (missed cycles : 3). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296689 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun might occur, Total time : 7150.165 us (Expected < 1666.667 us) --> Read time : 145.018 us, Update time : 6511.491 us, Write time : 493.656 us + 7.31sWARNros2_control_nodeOverrun might occur, Total time : 7150.165 us (Expected < 1666.667 us) --> Read time : 145.018 us, Update time : 6511.491 us, Write time : 493.656 us[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616064 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616064 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun might occur, Total time : 1849.799 us (Expected < 1666.667 us) --> Read time : 155.148 us, Update time : 149.508 us, Write time : 1545.143 us + 8.35sWARNros2_control_nodeOverrun might occur, Total time : 1849.799 us (Expected < 1666.667 us) --> Read time : 155.148 us, Update time : 149.508 us, Write time : 1545.143 us[0m ×2 + 8.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 8.77sINFOros2_control_node[2026-06-08 20:36:48.062] [info] Received new action goal ×2 + 8.77sINFOros2_control_node[2026-06-08 20:36:48.062] [info] Accepted new action goal ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627637 ms (missed cycles : 4). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627637 ms (missed cycles : 4).[0m ×2 + 9.60sWARNcontroller_managerOverrun might occur, Total time : 5379.720 us (Expected < 1666.667 us) --> Read time : 169.689 us, Update time : 4803.389 us, Write time : 406.642 us + 9.60sWARNros2_control_nodeOverrun might occur, Total time : 5379.720 us (Expected < 1666.667 us) --> Read time : 169.689 us, Update time : 4803.389 us, Write time : 406.642 us[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761762 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761762 ms (missed cycles : 3).[0m ×2 + 10.66sINFOros2_control_node[2026-06-08 20:36:49.949] [info] Received new action goal ×2 + 10.66sINFOros2_control_node[2026-06-08 20:36:49.949] [info] Accepted new action goal ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121842 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121842 ms (missed cycles : 3).[0m ×2 + 11.17sWARNcontroller_managerOverrun might occur, Total time : 3363.722 us (Expected < 1666.667 us) --> Read time : 2910.567 us, Update time : 66.314 us, Write time : 386.841 us + 11.18sWARNros2_control_nodeOverrun might occur, Total time : 3363.722 us (Expected < 1666.667 us) --> Read time : 2910.567 us, Update time : 66.314 us, Write time : 386.841 us[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232693 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232693 ms (missed cycles : 2).[0m ×2 + 12.24sWARNcontroller_managerOverrun might occur, Total time : 2263.452 us (Expected < 1666.667 us) --> Read time : 94.685 us, Update time : 245.464 us, Write time : 1923.303 us + 12.25sWARNros2_control_nodeOverrun might occur, Total time : 2263.452 us (Expected < 1666.667 us) --> Read time : 94.685 us, Update time : 245.464 us, Write time : 1923.303 us[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171607 ms (missed cycles : 4). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171607 ms (missed cycles : 4).[0m ×2 + 13.77sWARNcontroller_managerOverrun might occur, Total time : 1705.112 us (Expected < 1666.667 us) --> Read time : 280.765 us, Update time : 364.970 us, Write time : 1059.377 us + 13.78sWARNros2_control_nodeOverrun might occur, Total time : 1705.112 us (Expected < 1666.667 us) --> Read time : 280.765 us, Update time : 364.970 us, Write time : 1059.377 us[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856072 ms (missed cycles : 4). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856072 ms (missed cycles : 4).[0m ×2 + 14.71sINFOobjective_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 + 14.76sINFOobjective_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 + 14.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 14.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 14.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 14.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 14.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 14.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.14sWARNcontroller_managerOverrun might occur, Total time : 5448.744 us (Expected < 1666.667 us) --> Read time : 158.728 us, Update time : 4838.552 us, Write time : 451.464 us + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668581 ms (missed cycles : 4). + 15.14sWARNros2_control_nodeOverrun might occur, Total time : 5448.744 us (Expected < 1666.667 us) --> Read time : 158.728 us, Update time : 4838.552 us, Write time : 451.464 us[0m ×2 + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668581 ms (missed cycles : 4).[0m ×2 + 15.74sERRORobjective_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 + 15.74sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780951015.03033757 seconds ×3 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300573 ms (missed cycles : 5). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300573 ms (missed cycles : 5).[0m ×2 + 16.35sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780951015.64184380 seconds. ×3 + 16.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 16.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 16.81sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 16.81sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 16.93sWARNcontroller_managerOverrun might occur, Total time : 2837.464 us (Expected < 1666.667 us) --> Read time : 183.490 us, Update time : 2300.605 us, Write time : 353.369 us + 16.93sWARNros2_control_nodeOverrun might occur, Total time : 2837.464 us (Expected < 1666.667 us) --> Read time : 183.490 us, Update time : 2300.605 us, Write time : 353.369 us[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122084 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122084 ms (missed cycles : 2).[0m ×2 + 17.46sINFOobjective_server_nodeFound path in 7 iterations (0.0046717 s). ×2 + 17.52sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 17.54sINFOros2_control_node[2026-06-08 20:36:56.826] [info] Received new action goal ×2 + 17.54sINFOros2_control_node[2026-06-08 20:36:56.826] [info] Accepted new action goal ×2 + 18.08sWARNcontroller_managerOverrun might occur, Total time : 1873.651 us (Expected < 1666.667 us) --> Read time : 111.846 us, Update time : 1341.582 us, Write time : 420.223 us + 18.08sWARNros2_control_nodeOverrun might occur, Total time : 1873.651 us (Expected < 1666.667 us) --> Read time : 111.846 us, Update time : 1341.582 us, Write time : 420.223 us[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900860 ms (missed cycles : 4). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900860 ms (missed cycles : 4).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847590 ms (missed cycles : 4). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847590 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 59 errors · 65 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2).[0m ×2 + 1.57sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Got request to cancel active goal. ×2 + 1.57sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Canceling active goal... ×2 + 1.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951100.83629012 seconds ×3 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.65sWARNcontroller_managerOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us + 1.65sWARNros2_control_nodeOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951101.39596653 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951101.75611377 seconds ×3 + 2.58sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 2.58sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951102.29915977 seconds. ×3 + 3.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.04sINFOobjective_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 + 3.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951102.30066419 seconds ×3 + 3.07sWARNcontroller_managerOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us[0m ×2 + 3.08sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 3.09sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951102.84441590 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951102.84490728 seconds ×3 + 3.59sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 3.59sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951103.55279565 seconds. ×3 + 4.80sWARNcontroller_managerOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us + 4.80sWARNros2_control_nodeOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780951104.70294023 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087741 ms (missed cycles : 3). + 6.02sWARNcontroller_managerOverrun might occur, Total time : 7193.808 us (Expected < 1666.667 us) --> Read time : 153.198 us, Update time : 6604.257 us, Write time : 436.353 us + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087741 ms (missed cycles : 3).[0m ×2 + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 7193.808 us (Expected < 1666.667 us) --> Read time : 153.198 us, Update time : 6604.257 us, Write time : 436.353 us[0m ×2 + 6.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.33% of iterations over budget over 5:10.017 of wall time (320/95769). Below 1% is expected on a non-realtime system.[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707702 ms (missed cycles : 4). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707702 ms (missed cycles : 4).[0m ×2 + 7.60sWARNcontroller_managerOverrun might occur, Total time : 1668.949 us (Expected < 1666.667 us) --> Read time : 155.228 us, Update time : 1184.424 us, Write time : 329.297 us + 7.60sWARNros2_control_nodeOverrun might occur, Total time : 1668.949 us (Expected < 1666.667 us) --> Read time : 155.228 us, Update time : 1184.424 us, Write time : 329.297 us[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.089631 ms (missed cycles : 6). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.089631 ms (missed cycles : 6).[0m ×2 + 8.69sWARNcontroller_managerOverrun might occur, Total time : 5437.003 us (Expected < 1666.667 us) --> Read time : 154.488 us, Update time : 4856.352 us, Write time : 426.163 us + 8.69sWARNros2_control_nodeOverrun might occur, Total time : 5437.003 us (Expected < 1666.667 us) --> Read time : 154.488 us, Update time : 4856.352 us, Write time : 426.163 us[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516459 ms (missed cycles : 4). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516459 ms (missed cycles : 4).[0m ×2 + 9.90sWARNcontroller_managerOverrun might occur, Total time : 6094.468 us (Expected < 1666.667 us) --> Read time : 159.988 us, Update time : 5171.979 us, Write time : 762.501 us + 9.90sWARNros2_control_nodeOverrun might occur, Total time : 6094.468 us (Expected < 1666.667 us) --> Read time : 159.988 us, Update time : 5171.979 us, Write time : 762.501 us[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319761 ms (missed cycles : 5). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319761 ms (missed cycles : 5).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.003795 ms (missed cycles : 6). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.003795 ms (missed cycles : 6).[0m ×2 + 11.53sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 11.55sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 11.56sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] ×2 + 11.57sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 11.58sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 11.59sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.59sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.61sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.61sWARNcontroller_managerOverrun might occur, Total time : 2497.894 us (Expected < 1666.667 us) --> Read time : 161.328 us, Update time : 248.274 us, Write time : 2088.292 us + 11.61sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.62sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.63sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.63sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.65sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.65sINFOcontroller_managerShutdown request received.... + 11.65sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.65sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.65sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 11.65sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.65sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.65sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.65sWARNros2_control_nodeOverrun might occur, Total time : 2497.894 us (Expected < 1666.667 us) --> Read time : 161.328 us, Update time : 248.274 us, Write time : 2088.292 us[0m ×2 + 11.65sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.65sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.65sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.65sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.65sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.65sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.65sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.65sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.65sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.65sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.65sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOui_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 + 11.65sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.65sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.65sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.65sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.65sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.65sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.65sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.65sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.65sINFOcontroller_managerShutting down the controller manager. + 11.65sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.65sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.65sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.65sERRORmove_groupStack trace (most recent call last) in thread 10107: ×2 + 11.66sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.66sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.66sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.66sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2920fc4a63, in __clone ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.66sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2920f37aa3, in ×2 + 11.66sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f29211c9db3, in ×2 + 11.66sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f292181e18a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.66sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f292153c4d0, in rclcpp::Rate::sleep() ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.66sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.66sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.66sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.66sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.66sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.66sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.66sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 11.66sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f292148fa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.66sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2921454a71, in ×2 + 11.66sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2921198390, in __cxa_throw ×2 + 11.66sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2921182a54, in std::terminate() ×2 + 11.66sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f29211980d9, in ×2 + 11.66sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2921182ff4, in ×2 + 11.66sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2920ec38fe, in abort ×2 + 11.66sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2920ee027d, in raise ×2 + 11.66sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2920f39b2c, in pthread_kill ×2 + 11.66sERRORmove_groupAborted (Signal sent by tkill() 9811 0) ×2 + 11.67sINFOfoxglove_bridgeShutdown complete[0m ×2 + 11.67sERRORmove_group-9process has died [pid 9811, 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_532uhiyg --params-file /tmp/launch_params_45gi5b4g --params-file /tmp/launch_params_n7r8i27p --params-file /tmp/launch_params_koxbqnm2 --params-file /tmp/launch_params_soc74ufo --params-file /tmp/launch_params_zjdpk22v --params-file /tmp/launch_params_f5lsr5_8 --params-file /tmp/launch_params_ic5709gt --params-file /tmp/launch_params_5iw_5jpg']. ×2 + 11.70sINFOobjective_server_node[0;m[2026-06-08 20:38:30.965] [moveit_pro_license] [info] ×2 + 11.70sINFOobjective_server_node************************************************* ×4 + 11.70sINFOobjective_server_node* MoveIt Pro License ×2 + 11.70sINFOobjective_server_node* Application has successfully terminated ×2 + 11.80sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.82sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.82sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f4a7ee76a4, in _start ×2 + 11.82sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4b11ab28a, in __libc_start_main ×2 + 11.82sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4b11ab1d0, in ×2 + 11.82sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4b11c8bbd, in exit ×2 + 11.82sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4b11c8a75, in ×2 + 11.82sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff4b169a4a2, in spdlog::details::registry::~registry() ×2 + 11.82sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff4b16a569d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 11.82sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff4b169f965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.82sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f4a7eee315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.82sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f4a7eed5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.82sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f4a7ee9b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.82sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f4a7ee7d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.82sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4b1d1d454, in rclcpp::Node::~Node() ×2 + 11.82sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4b1cd8515, in ×2 + 11.82sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.82sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.82sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4b1d1bd20, in ×2 + 11.82sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4b1d1bc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.82sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4b1cd85d9, in ×2 + 11.82sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4b1cdd161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.82sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7ff45e53fa88]) ×2 + 11.82sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.34sERRORobjective_server_node_main-14process has died [pid 9816, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_mp6l5muy --params-file /tmp/launch_params_j7tqm96u --params-file /tmp/launch_params_gj4epbje --params-file /tmp/launch_params_7qqm1j3p --params-file /tmp/launch_params_0j75jcb2 --params-file /tmp/launch_params_n9xjtyxw']. ×2 + 12.34sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.35sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 12.59sINFOweb_video_server-20process has finished cleanly [pid 9940] ×2 + 12.61sINFOtf2_web_republisher_node-19process has finished cleanly [pid 9821] ×2 + 12.61sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 12.65sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9815] ×2 + 12.65sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9814] ×2 + 12.68sINFOparameter_manager_node-10process has finished cleanly [pid 9812] ×2 + 12.68sINFOexecute_objective_bridge-16process has finished cleanly [pid 9818] ×2 + 12.70sINFOwaypoint_manager_node-11process has finished cleanly [pid 9813] ×2 + 12.70sERRORui_teleop_bridge-17process has died [pid 9819, 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_ncq594kh']. ×2 + 13.62sINFOfoxglove_bridge-18process has finished cleanly [pid 9820] ×2 + 13.62sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system ×2 + 13.75sINFOcomponent_container_mt-15process has finished cleanly [pid 9817] ×2 + 14.34sINFOros2_control_node-1process has finished cleanly [pid 9785] ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 3 errors · 87 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898376 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898376 ms (missed cycles : 3).[0m ×2 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.16sINFOobjective_server_nodeFound path in 5 iterations (0.00352386 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.22sINFOros2_control_node[2026-06-08 20:34:27.395] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-08 20:34:27.395] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 1808.468 us (Expected < 1666.667 us) --> Read time : 106.896 us, Update time : 1445.798 us, Write time : 255.774 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 1808.468 us (Expected < 1666.667 us) --> Read time : 106.896 us, Update time : 1445.798 us, Write time : 255.774 us[0m ×2 + 0.61sINFOros2_control_node[2026-06-08 20:34:27.787] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-08 20:34:27.787] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987545 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987545 ms (missed cycles : 3).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829282 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829282 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 5492.156 us (Expected < 1666.667 us) --> Read time : 109.206 us, Update time : 4988.609 us, Write time : 394.341 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 5492.156 us (Expected < 1666.667 us) --> Read time : 109.206 us, Update time : 4988.609 us, Write time : 394.341 us[0m ×2 + 2.65sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.65sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.65sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.65sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780950869.84096265 seconds ×3 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953896 ms (missed cycles : 6). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953896 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780950870.48449326 seconds. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.40sINFOros2_control_node[2026-06-08 20:34:30.577] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-06-08 20:34:30.577] [info] Accepted new action goal ×2 + 3.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.60sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.60sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 1967.057 us (Expected < 1666.667 us) --> Read time : 572.881 us, Update time : 1064.838 us, Write time : 329.338 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1967.057 us (Expected < 1666.667 us) --> Read time : 572.881 us, Update time : 1064.838 us, Write time : 329.338 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723813 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723813 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950115 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950115 ms (missed cycles : 3).[0m ×2 + 5.75sINFOros2_control_node[2026-06-08 20:34:32.930] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-06-08 20:34:32.930] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924433 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924433 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252904 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252904 ms (missed cycles : 3).[0m ×2 + 7.93sWARNcontroller_managerOverrun might occur, Total time : 11998.847 us (Expected < 1666.667 us) --> Read time : 113.486 us, Update time : 11481.379 us, Write time : 403.982 us + 7.93sWARNros2_control_nodeOverrun might occur, Total time : 11998.847 us (Expected < 1666.667 us) --> Read time : 113.486 us, Update time : 11481.379 us, Write time : 403.982 us[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791284 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791284 ms (missed cycles : 2).[0m ×2 + 8.96sWARNcontroller_managerOverrun might occur, Total time : 5290.265 us (Expected < 1666.667 us) --> Read time : 145.578 us, Update time : 4768.047 us, Write time : 376.640 us + 8.96sWARNros2_control_nodeOverrun might occur, Total time : 5290.265 us (Expected < 1666.667 us) --> Read time : 145.578 us, Update time : 4768.047 us, Write time : 376.640 us[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590978 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590978 ms (missed cycles : 4).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828818 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828818 ms (missed cycles : 4).[0m ×2 + 10.93sWARNcontroller_managerOverrun might occur, Total time : 1888.062 us (Expected < 1666.667 us) --> Read time : 153.849 us, Update time : 1416.846 us, Write time : 317.367 us + 10.93sWARNros2_control_nodeOverrun might occur, Total time : 1888.062 us (Expected < 1666.667 us) --> Read time : 153.849 us, Update time : 1416.846 us, Write time : 317.367 us[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116818 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116818 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun might occur, Total time : 7092.792 us (Expected < 1666.667 us) --> Read time : 133.747 us, Update time : 6461.928 us, Write time : 497.117 us + 12.38sWARNros2_control_nodeOverrun might occur, Total time : 7092.792 us (Expected < 1666.667 us) --> Read time : 133.747 us, Update time : 6461.928 us, Write time : 497.117 us[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865137 ms (missed cycles : 6). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865137 ms (missed cycles : 6).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059901 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059901 ms (missed cycles : 3).[0m ×2 + 14.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780950881.49379086 seconds ×3 + 14.34sWARNcontroller_managerOverrun might occur, Total time : 2378.819 us (Expected < 1666.667 us) --> Read time : 155.668 us, Update time : 1808.898 us, Write time : 414.253 us + 14.34sWARNros2_control_nodeOverrun might occur, Total time : 2378.819 us (Expected < 1666.667 us) --> Read time : 155.668 us, Update time : 1808.898 us, Write time : 414.253 us[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950882.13051438 seconds. ×3 + 14.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.02sWARNcontroller_managerOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us + 15.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.02sWARNros2_control_nodeOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950882.20065188 seconds ×3 + 15.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950882.74305224 seconds. ×3 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3).[0m ×2 + 15.67sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 15.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.68sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Received new action goal ×2 + 15.68sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Accepted new action goal ×2 + 15.85sWARNcontroller_managerOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us + 15.85sWARNros2_control_nodeOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12).[0m ×2 + 17.24sWARNcontroller_managerOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us + 17.25sWARNros2_control_nodeOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us[0m ×2 + 17.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950884.86960244 seconds ×3 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 87 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606761 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606761 ms (missed cycles : 4).[0m ×2 + 0.77sINFOobjective_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 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.77sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.77sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.77sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339668 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339668 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-06-08 20:35:37.533] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-06-08 20:35:37.533] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486407 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486407 ms (missed cycles : 6).[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 5396.990 us (Expected < 1666.667 us) --> Read time : 146.758 us, Update time : 4793.228 us, Write time : 457.004 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 5396.990 us (Expected < 1666.667 us) --> Read time : 146.758 us, Update time : 4793.228 us, Write time : 457.004 us[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780950938.68968916 seconds ×3 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701010 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701010 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780950939.38906145 seconds. ×3 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 1973.886 us (Expected < 1666.667 us) --> Read time : 232.782 us, Update time : 1214.275 us, Write time : 526.829 us + 3.93sWARNros2_control_nodeOverrun might occur, Total time : 1973.886 us (Expected < 1666.667 us) --> Read time : 232.782 us, Update time : 1214.275 us, Write time : 526.829 us[0m ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.14sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339651 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339651 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 4.88sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.89sINFOros2_control_node[2026-06-08 20:35:40.613] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-06-08 20:35:40.613] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773734 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773734 ms (missed cycles : 4).[0m ×2 + 5.53sWARNcontroller_managerOverrun might occur, Total time : 1830.769 us (Expected < 1666.667 us) --> Read time : 182.450 us, Update time : 1361.143 us, Write time : 287.176 us + 5.53sWARNros2_control_nodeOverrun might occur, Total time : 1830.769 us (Expected < 1666.667 us) --> Read time : 182.450 us, Update time : 1361.143 us, Write time : 287.176 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254488 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254488 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun might occur, Total time : 1715.612 us (Expected < 1666.667 us) --> Read time : 874.587 us, Update time : 253.644 us, Write time : 587.381 us + 6.56sWARNros2_control_nodeOverrun might occur, Total time : 1715.612 us (Expected < 1666.667 us) --> Read time : 874.587 us, Update time : 253.644 us, Write time : 587.381 us[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811282 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811282 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803065 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803065 ms (missed cycles : 4).[0m ×2 + 8.59sINFOobjective_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 + 8.59sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.59sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.60sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.60sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.00sWARNcontroller_managerOverrun might occur, Total time : 6779.595 us (Expected < 1666.667 us) --> Read time : 139.418 us, Update time : 6194.083 us, Write time : 446.094 us + 9.00sWARNros2_control_nodeOverrun might occur, Total time : 6779.595 us (Expected < 1666.667 us) --> Read time : 139.418 us, Update time : 6194.083 us, Write time : 446.094 us[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658833 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658833 ms (missed cycles : 3).[0m ×2 + 10.34sWARNcontroller_managerOverrun might occur, Total time : 1993.157 us (Expected < 1666.667 us) --> Read time : 194.530 us, Update time : 135.928 us, Write time : 1662.699 us + 10.34sWARNros2_control_nodeOverrun might occur, Total time : 1993.157 us (Expected < 1666.667 us) --> Read time : 194.530 us, Update time : 135.928 us, Write time : 1662.699 us[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010069 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010069 ms (missed cycles : 2).[0m ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.99sINFOros2_control_node[2026-06-08 20:35:46.713] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-06-08 20:35:46.713] [info] Accepted new action goal ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549681 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549681 ms (missed cycles : 3).[0m ×2 + 11.78sWARNcontroller_managerOverrun might occur, Total time : 3666.287 us (Expected < 1666.667 us) --> Read time : 94.465 us, Update time : 3072.435 us, Write time : 499.387 us + 11.78sWARNros2_control_nodeOverrun might occur, Total time : 3666.287 us (Expected < 1666.667 us) --> Read time : 94.465 us, Update time : 3072.435 us, Write time : 499.387 us[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938349 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938349 ms (missed cycles : 3).[0m ×2 + 13.12sWARNcontroller_managerOverrun might occur, Total time : 1716.752 us (Expected < 1666.667 us) --> Read time : 186.740 us, Update time : 1091.559 us, Write time : 438.453 us + 13.12sWARNros2_control_nodeOverrun might occur, Total time : 1716.752 us (Expected < 1666.667 us) --> Read time : 186.740 us, Update time : 1091.559 us, Write time : 438.453 us[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764183 ms (missed cycles : 4). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764183 ms (missed cycles : 4).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929199 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929199 ms (missed cycles : 2).[0m ×2 + 14.60sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780950950.31922841 seconds ×3 + 14.62sWARNcontroller_managerOverrun might occur, Total time : 2984.572 us (Expected < 1666.667 us) --> Read time : 103.756 us, Update time : 2535.217 us, Write time : 345.599 us + 14.62sWARNros2_control_nodeOverrun might occur, Total time : 2984.572 us (Expected < 1666.667 us) --> Read time : 103.756 us, Update time : 2535.217 us, Write time : 345.599 us[0m ×2 + 15.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780950950.94431186 seconds. ×3 + 15.36sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 15.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.37sINFOros2_control_node[2026-06-08 20:35:51.087] [info] Received new action goal ×2 + 15.37sINFOros2_control_node[2026-06-08 20:35:51.087] [info] Accepted new action goal ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499637 ms (missed cycles : 4). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499637 ms (missed cycles : 4).[0m ×2 + 15.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 15.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m ×2 + 16.00sWARNcontroller_managerOverrun might occur, Total time : 2154.208 us (Expected < 1666.667 us) --> Read time : 173.370 us, Update time : 1547.974 us, Write time : 432.864 us + 16.00sWARNros2_control_nodeOverrun might occur, Total time : 2154.208 us (Expected < 1666.667 us) --> Read time : 173.370 us, Update time : 1547.974 us, Write time : 432.864 us[0m ×2 + 16.63sINFOobjective_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 + 16.64sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148144 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148144 ms (missed cycles : 2).[0m ×2 + 17.47sWARNcontroller_managerOverrun might occur, Total time : 1786.037 us (Expected < 1666.667 us) --> Read time : 124.117 us, Update time : 1363.374 us, Write time : 298.546 us + 17.48sWARNros2_control_nodeOverrun might occur, Total time : 1786.037 us (Expected < 1666.667 us) --> Read time : 124.117 us, Update time : 1363.374 us, Write time : 298.546 us[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391839 ms (missed cycles : 3). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391839 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 3 errors · 93 warnings · 98 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468280 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468280 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865206 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865206 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun might occur, Total time : 5098.974 us (Expected < 1666.667 us) --> Read time : 171.389 us, Update time : 4504.943 us, Write time : 422.642 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 5098.974 us (Expected < 1666.667 us) --> Read time : 171.389 us, Update time : 4504.943 us, Write time : 422.642 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020885 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020885 ms (missed cycles : 6).[0m ×2 + 3.05sWARNcontroller_managerOverrun might occur, Total time : 2158.166 us (Expected < 1666.667 us) --> Read time : 366.779 us, Update time : 353.440 us, Write time : 1437.947 us + 3.05sWARNros2_control_nodeOverrun might occur, Total time : 2158.166 us (Expected < 1666.667 us) --> Read time : 366.779 us, Update time : 353.440 us, Write time : 1437.947 us[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780951077.33030844 seconds ×3 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487439 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487439 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780951077.95048332 seconds. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-06-08 20:37:58.064] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-06-08 20:37:58.064] [info] Accepted new action goal ×2 + 3.91sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 3.91sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 1675.500 us (Expected < 1666.667 us) --> Read time : 700.008 us, Update time : 114.966 us, Write time : 860.526 us + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084338 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 1675.500 us (Expected < 1666.667 us) --> Read time : 700.008 us, Update time : 114.966 us, Write time : 860.526 us[0m ×2 + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084338 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.775362 ms (missed cycles : 7). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.775362 ms (missed cycles : 7).[0m ×2 + 5.21sWARNcontroller_managerOverrun might occur, Total time : 5721.459 us (Expected < 1666.667 us) --> Read time : 148.408 us, Update time : 5161.079 us, Write time : 411.972 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 5721.459 us (Expected < 1666.667 us) --> Read time : 148.408 us, Update time : 5161.079 us, Write time : 411.972 us[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.912034 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.912034 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun might occur, Total time : 3443.265 us (Expected < 1666.667 us) --> Read time : 143.797 us, Update time : 2640.743 us, Write time : 658.725 us + 6.56sWARNros2_control_nodeOverrun might occur, Total time : 3443.265 us (Expected < 1666.667 us) --> Read time : 143.797 us, Update time : 2640.743 us, Write time : 658.725 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794626 ms (missed cycles : 5). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794626 ms (missed cycles : 5).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520097 ms (missed cycles : 5). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520097 ms (missed cycles : 5).[0m ×2 + 8.33sWARNcontroller_managerOverrun might occur, Total time : 1727.954 us (Expected < 1666.667 us) --> Read time : 124.237 us, Update time : 1250.667 us, Write time : 353.050 us + 8.33sWARNros2_control_nodeOverrun might occur, Total time : 1727.954 us (Expected < 1666.667 us) --> Read time : 124.237 us, Update time : 1250.667 us, Write time : 353.050 us[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135933 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135933 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun might occur, Total time : 7260.391 us (Expected < 1666.667 us) --> Read time : 146.588 us, Update time : 6505.470 us, Write time : 608.333 us + 9.37sWARNros2_control_nodeOverrun might occur, Total time : 7260.391 us (Expected < 1666.667 us) --> Read time : 146.588 us, Update time : 6505.470 us, Write time : 608.333 us[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706276 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706276 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun might occur, Total time : 1830.458 us (Expected < 1666.667 us) --> Read time : 96.725 us, Update time : 1406.926 us, Write time : 326.807 us + 10.69sWARNros2_control_nodeOverrun might occur, Total time : 1830.458 us (Expected < 1666.667 us) --> Read time : 96.725 us, Update time : 1406.926 us, Write time : 326.807 us[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4).[0m ×2 + 12.06sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 12.06sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 13.90sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 13.90sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 14.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 14.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 14.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 14.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.87sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 14.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.87sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 14.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 15.00sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.02sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 15.02sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 15.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 15.47sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 16.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 16.23sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.25sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 16.25sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 17.19sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 17.19sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 96 warnings · 114 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950836.19189358 seconds ×3 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 2.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950836.75852942 seconds. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950836.83866096 seconds ×3 + 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 + 2.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950837.45142102 seconds. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us[0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×6 + 6.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 6.36sINFOros2_control_node[2026-06-08 20:34:00.894] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-06-08 20:34:00.894] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029678 ms (missed cycles : 6). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029678 ms (missed cycles : 6).[0m ×2 + 6.94sWARNcontroller_managerOverrun might occur, Total time : 1828.009 us (Expected < 1666.667 us) --> Read time : 143.848 us, Update time : 1304.911 us, Write time : 379.250 us + 6.94sWARNros2_control_nodeOverrun might occur, Total time : 1828.009 us (Expected < 1666.667 us) --> Read time : 143.848 us, Update time : 1304.911 us, Write time : 379.250 us[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259757 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259757 ms (missed cycles : 4).[0m ×2 + 8.06sWARNcontroller_managerOverrun might occur, Total time : 10322.588 us (Expected < 1666.667 us) --> Read time : 125.997 us, Update time : 9796.309 us, Write time : 400.282 us + 8.07sWARNros2_control_nodeOverrun might occur, Total time : 10322.588 us (Expected < 1666.667 us) --> Read time : 125.997 us, Update time : 9796.309 us, Write time : 400.282 us[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.651592 ms (missed cycles : 7). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.651592 ms (missed cycles : 7).[0m ×2 + 8.69sINFOros2_control_node[2026-06-08 20:34:03.222] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-06-08 20:34:03.222] [info] Accepted new action goal ×2 + 9.13sWARNcontroller_managerOverrun might occur, Total time : 3303.018 us (Expected < 1666.667 us) --> Read time : 137.748 us, Update time : 2680.194 us, Write time : 485.076 us + 9.13sWARNros2_control_nodeOverrun might occur, Total time : 3303.018 us (Expected < 1666.667 us) --> Read time : 137.748 us, Update time : 2680.194 us, Write time : 485.076 us[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806864 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806864 ms (missed cycles : 3).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 10.76sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 10.77sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 11.03sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 11.03sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 11.77sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 11.77sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 12.84sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 12.84sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 13.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 13.90sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 13.90sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 13.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 14.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 14.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 14.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 14.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 15.03sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 15.03sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.07sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 16.31sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 16.32sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 99 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.19sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.13sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819691 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819691 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1960.206 us (Expected < 1666.667 us) --> Read time : 124.506 us, Update time : 1536.603 us, Write time : 299.097 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1960.206 us (Expected < 1666.667 us) --> Read time : 124.506 us, Update time : 1536.603 us, Write time : 299.097 us[0m ×2 + 7.48sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.49sINFOros2_control_node[2026-06-08 20:38:13.765] [info] Received new action goal ×2 + 7.49sINFOros2_control_node[2026-06-08 20:38:13.765] [info] Accepted new action goal ×2 + 7.49sINFOros2_control_node[2026-06-08 20:38:13.765] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615288 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615288 ms (missed cycles : 5).[0m ×2 + 7.86sWARNcontroller_managerOverrun might occur, Total time : 2714.267 us (Expected < 1666.667 us) --> Read time : 120.277 us, Update time : 2258.472 us, Write time : 335.518 us + 7.86sWARNros2_control_nodeOverrun might occur, Total time : 2714.267 us (Expected < 1666.667 us) --> Read time : 120.277 us, Update time : 2258.472 us, Write time : 335.518 us[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921589 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921589 ms (missed cycles : 2).[0m ×2 + 8.98sWARNcontroller_managerOverrun might occur, Total time : 3776.884 us (Expected < 1666.667 us) --> Read time : 154.429 us, Update time : 3191.842 us, Write time : 430.613 us + 8.98sWARNros2_control_nodeOverrun might occur, Total time : 3776.884 us (Expected < 1666.667 us) --> Read time : 154.429 us, Update time : 3191.842 us, Write time : 430.613 us[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240020 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240020 ms (missed cycles : 3).[0m ×2 + 10.24sWARNcontroller_managerOverrun might occur, Total time : 1670.530 us (Expected < 1666.667 us) --> Read time : 107.896 us, Update time : 1340.332 us, Write time : 222.302 us + 10.25sWARNros2_control_nodeOverrun might occur, Total time : 1670.530 us (Expected < 1666.667 us) --> Read time : 107.896 us, Update time : 1340.332 us, Write time : 222.302 us[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655860 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655860 ms (missed cycles : 3).[0m ×2 + 11.71sWARNcontroller_managerOverrun might occur, Total time : 3621.125 us (Expected < 1666.667 us) --> Read time : 132.677 us, Update time : 3192.852 us, Write time : 295.596 us + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794480 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun might occur, Total time : 3621.125 us (Expected < 1666.667 us) --> Read time : 132.677 us, Update time : 3192.852 us, Write time : 295.596 us[0m ×2 + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794480 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2).[0m ×2 + 12.98sWARNcontroller_managerOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us + 12.98sWARNros2_control_nodeOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2).[0m ×2 + 14.55sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Got request to cancel active goal. ×2 + 14.55sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Canceling active goal... ×2 + 14.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951100.83629012 seconds ×3 + 14.63sWARNcontroller_managerOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us + 14.63sWARNros2_control_nodeOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951101.39596653 seconds. ×3 + 15.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951101.75611377 seconds ×3 + 15.56sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 15.56sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3).[0m ×2 + 16.02sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951102.29915977 seconds. ×3 + 16.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.02sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951102.30066419 seconds ×3 + 16.06sWARNcontroller_managerOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us + 16.06sWARNros2_control_nodeOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us[0m ×2 + 16.07sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 16.07sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 16.07sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 16.07sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 16.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951102.84441590 seconds. ×3 + 16.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951102.84490728 seconds ×3 + 16.58sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 16.58sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2).[0m ×2 + 17.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951103.55279565 seconds. ×3 + 17.79sWARNcontroller_managerOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us + 17.79sWARNros2_control_nodeOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 84 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2128.855 us (Expected < 1666.667 us) --> Read time : 291.356 us, Update time : 162.759 us, Write time : 1674.740 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2128.855 us (Expected < 1666.667 us) --> Read time : 291.356 us, Update time : 162.759 us, Write time : 1674.740 us[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×8 + 0.09sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 0.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×4 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×4 + 0.20sINFOobjective_server_nodeFound path in 5 iterations (0.00467934 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×4 + 0.25sINFOobjective_server_nodeFound path in 1 iterations (0.002351 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×4 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X] ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×4 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.50sINFOros2_control_node[2026-06-08 20:34:16.213] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-06-08 20:34:16.213] [info] Accepted new action goal ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855355 ms (missed cycles : 4). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855355 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 4481.922 us (Expected < 1666.667 us) --> Read time : 154.188 us, Update time : 3850.798 us, Write time : 476.936 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 4481.922 us (Expected < 1666.667 us) --> Read time : 154.188 us, Update time : 3850.798 us, Write time : 476.936 us[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.431349 ms (missed cycles : 8). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.431349 ms (missed cycles : 8).[0m ×2 + 2.67sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 2.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 2.96sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 2.96sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 2.96sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780950858.68973279 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958125 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958125 ms (missed cycles : 2).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780950859.41051078 seconds. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 2303.994 us (Expected < 1666.667 us) --> Read time : 113.396 us, Update time : 1653.649 us, Write time : 536.949 us + 3.74sWARNros2_control_nodeOverrun might occur, Total time : 2303.994 us (Expected < 1666.667 us) --> Read time : 113.396 us, Update time : 1653.649 us, Write time : 536.949 us[0m ×2 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.88sINFOros2_control_node[2026-06-08 20:34:19.594] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-06-08 20:34:19.594] [info] Accepted new action goal ×2 + 3.94sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.94sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.94sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.94sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931719 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931719 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 4846.842 us (Expected < 1666.667 us) --> Read time : 86.845 us, Update time : 4438.759 us, Write time : 321.238 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 4846.842 us (Expected < 1666.667 us) --> Read time : 86.845 us, Update time : 4438.759 us, Write time : 321.238 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003931 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003931 ms (missed cycles : 3).[0m ×2 + 5.99sWARNcontroller_managerOverrun might occur, Total time : 7413.950 us (Expected < 1666.667 us) --> Read time : 6881.711 us, Update time : 73.604 us, Write time : 458.635 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 7413.950 us (Expected < 1666.667 us) --> Read time : 6881.711 us, Update time : 73.604 us, Write time : 458.635 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950093 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950093 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153571 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153571 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 1733.384 us (Expected < 1666.667 us) --> Read time : 87.075 us, Update time : 1373.954 us, Write time : 272.355 us + 7.43sWARNros2_control_nodeOverrun might occur, Total time : 1733.384 us (Expected < 1666.667 us) --> Read time : 87.075 us, Update time : 1373.954 us, Write time : 272.355 us[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468057 ms (missed cycles : 5). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468057 ms (missed cycles : 5).[0m ×2 + 8.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (1.71e-07 s). ×2 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 8.92sINFOobjective_server_nodeFound path in 5 iterations (0.00249078 s). ×2 + 8.98sINFOobjective_server_nodeFound path in 1 iterations (0.00210256 s). ×2 + 8.98sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 8.98sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 9.09sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 9.20sINFOros2_control_node[2026-06-08 20:34:24.915] [info] Received new action goal ×2 + 9.20sINFOros2_control_node[2026-06-08 20:34:24.915] [info] Accepted new action goal ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822693 ms (missed cycles : 6). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.822693 ms (missed cycles : 6).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327179 ms (missed cycles : 5). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327179 ms (missed cycles : 5).[0m ×2 + 10.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.15% of iterations over budget over 1:10.000 of wall time (33/21760). Below 1% is expected on a non-realtime system.[0m ×2 + 10.72sWARNcontroller_managerOverrun might occur, Total time : 5270.095 us (Expected < 1666.667 us) --> Read time : 124.917 us, Update time : 4774.538 us, Write time : 370.640 us + 10.72sWARNros2_control_nodeOverrun might occur, Total time : 5270.095 us (Expected < 1666.667 us) --> Read time : 124.917 us, Update time : 4774.538 us, Write time : 370.640 us[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898376 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898376 ms (missed cycles : 3).[0m ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.54sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 11.62sINFOobjective_server_nodeFound path in 5 iterations (0.00352386 s). ×2 + 11.64sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 11.68sINFOros2_control_node[2026-06-08 20:34:27.395] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-06-08 20:34:27.395] [info] Accepted new action goal ×2 + 11.87sWARNcontroller_managerOverrun might occur, Total time : 1808.468 us (Expected < 1666.667 us) --> Read time : 106.896 us, Update time : 1445.798 us, Write time : 255.774 us + 11.87sWARNros2_control_nodeOverrun might occur, Total time : 1808.468 us (Expected < 1666.667 us) --> Read time : 106.896 us, Update time : 1445.798 us, Write time : 255.774 us[0m ×2 + 12.07sINFOros2_control_node[2026-06-08 20:34:27.787] [info] Received new action goal ×2 + 12.07sINFOros2_control_node[2026-06-08 20:34:27.787] [info] Accepted new action goal ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987545 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987545 ms (missed cycles : 3).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829282 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829282 ms (missed cycles : 3).[0m ×2 + 13.77sWARNcontroller_managerOverrun might occur, Total time : 5492.156 us (Expected < 1666.667 us) --> Read time : 109.206 us, Update time : 4988.609 us, Write time : 394.341 us + 13.77sWARNros2_control_nodeOverrun might occur, Total time : 5492.156 us (Expected < 1666.667 us) --> Read time : 109.206 us, Update time : 4988.609 us, Write time : 394.341 us[0m ×2 + 14.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780950869.84096265 seconds ×3 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953896 ms (missed cycles : 6). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953896 ms (missed cycles : 6).[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780950870.48449326 seconds. ×3 + 14.85sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.86sINFOros2_control_node[2026-06-08 20:34:30.577] [info] Received new action goal ×2 + 14.86sINFOros2_control_node[2026-06-08 20:34:30.577] [info] Accepted new action goal ×2 + 15.06sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 15.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.06sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.22sWARNcontroller_managerOverrun might occur, Total time : 1967.057 us (Expected < 1666.667 us) --> Read time : 572.881 us, Update time : 1064.838 us, Write time : 329.338 us + 15.22sWARNros2_control_nodeOverrun might occur, Total time : 1967.057 us (Expected < 1666.667 us) --> Read time : 572.881 us, Update time : 1064.838 us, Write time : 329.338 us[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723813 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723813 ms (missed cycles : 2).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950115 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950115 ms (missed cycles : 3).[0m ×2 + 17.21sINFOros2_control_node[2026-06-08 20:34:32.930] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-06-08 20:34:32.930] [info] Accepted new action goal ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924433 ms (missed cycles : 3). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924433 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 93 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364854 ms (missed cycles : 8). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.364854 ms (missed cycles : 8).[0m ×2 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 5379.390 us (Expected < 1666.667 us) --> Read time : 163.259 us, Update time : 4825.620 us, Write time : 390.511 us + 7.36sWARNros2_control_nodeOverrun might occur, Total time : 5379.390 us (Expected < 1666.667 us) --> Read time : 163.259 us, Update time : 4825.620 us, Write time : 390.511 us[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915358 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915358 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun might occur, Total time : 1837.999 us (Expected < 1666.667 us) --> Read time : 126.207 us, Update time : 1353.803 us, Write time : 357.989 us + 8.46sWARNros2_control_nodeOverrun might occur, Total time : 1837.999 us (Expected < 1666.667 us) --> Read time : 126.207 us, Update time : 1353.803 us, Write time : 357.989 us[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822008 ms (missed cycles : 7). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822008 ms (missed cycles : 7).[0m ×2 + 10.04sWARNcontroller_managerOverrun might occur, Total time : 8731.262 us (Expected < 1666.667 us) --> Read time : 121.817 us, Update time : 8213.424 us, Write time : 396.021 us + 10.04sWARNros2_control_nodeOverrun might occur, Total time : 8731.262 us (Expected < 1666.667 us) --> Read time : 121.817 us, Update time : 8213.424 us, Write time : 396.021 us[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890293 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890293 ms (missed cycles : 3).[0m ×2 + 11.07sWARNcontroller_managerOverrun might occur, Total time : 2258.972 us (Expected < 1666.667 us) --> Read time : 136.907 us, Update time : 1724.023 us, Write time : 398.042 us + 11.07sWARNros2_control_nodeOverrun might occur, Total time : 2258.972 us (Expected < 1666.667 us) --> Read time : 136.907 us, Update time : 1724.023 us, Write time : 398.042 us[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890550 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890550 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904228 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904228 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun might occur, Total time : 2222.520 us (Expected < 1666.667 us) --> Read time : 202.151 us, Update time : 1535.993 us, Write time : 484.376 us + 12.76sWARNros2_control_nodeOverrun might occur, Total time : 2222.520 us (Expected < 1666.667 us) --> Read time : 202.151 us, Update time : 1535.993 us, Write time : 484.376 us[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618890 ms (missed cycles : 5). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618890 ms (missed cycles : 5).[0m ×2 + 14.16sWARNcontroller_managerOverrun might occur, Total time : 2093.473 us (Expected < 1666.667 us) --> Read time : 468.646 us, Update time : 1248.877 us, Write time : 375.950 us + 14.16sWARNros2_control_nodeOverrun might occur, Total time : 2093.473 us (Expected < 1666.667 us) --> Read time : 468.646 us, Update time : 1248.877 us, Write time : 375.950 us[0m ×2 + 14.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780951066.92685318 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160197 ms (missed cycles : 6). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160197 ms (missed cycles : 6).[0m ×2 + 14.90sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780951067.49582148 seconds. ×3 + 14.95sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.95sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.12sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.13sINFOros2_control_node[2026-06-08 20:37:47.726] [info] Received new action goal ×2 + 15.13sINFOros2_control_node[2026-06-08 20:37:47.726] [info] Accepted new action goal ×2 + 15.31sWARNcontroller_managerOverrun might occur, Total time : 1924.014 us (Expected < 1666.667 us) --> Read time : 128.257 us, Update time : 1555.344 us, Write time : 240.413 us + 15.31sWARNros2_control_nodeOverrun might occur, Total time : 1924.014 us (Expected < 1666.667 us) --> Read time : 128.257 us, Update time : 1555.344 us, Write time : 240.413 us[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591706 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591706 ms (missed cycles : 3).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085127 ms (missed cycles : 4). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085127 ms (missed cycles : 4).[0m ×2 + 16.80sWARNcontroller_managerOverrun might occur, Total time : 5804.823 us (Expected < 1666.667 us) --> Read time : 5304.426 us, Update time : 85.034 us, Write time : 415.363 us + 16.80sWARNros2_control_nodeOverrun might occur, Total time : 5804.823 us (Expected < 1666.667 us) --> Read time : 5304.426 us, Update time : 85.034 us, Write time : 415.363 us[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276832 ms (missed cycles : 4). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276832 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 93 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 + 6.88sWARNcontroller_managerOverrun might occur, Total time : 4114.542 us (Expected < 1666.667 us) --> Read time : 107.006 us, Update time : 3655.407 us, Write time : 352.129 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 4114.542 us (Expected < 1666.667 us) --> Read time : 107.006 us, Update time : 3655.407 us, Write time : 352.129 us[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027507 ms (missed cycles : 6). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.027507 ms (missed cycles : 6).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953050 ms (missed cycles : 6). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953050 ms (missed cycles : 6).[0m ×2 + 8.66sWARNcontroller_managerOverrun might occur, Total time : 4616.580 us (Expected < 1666.667 us) --> Read time : 160.539 us, Update time : 4093.781 us, Write time : 362.260 us + 8.66sWARNros2_control_nodeOverrun might occur, Total time : 4616.580 us (Expected < 1666.667 us) --> Read time : 160.539 us, Update time : 4093.781 us, Write time : 362.260 us[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.019434 ms (missed cycles : 7). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.019434 ms (missed cycles : 7).[0m ×2 + 10.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 10.43sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution" + 10.44sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088626 ms (missed cycles : 4). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088626 ms (missed cycles : 4).[0m ×2 + 10.54sWARNcontroller_managerOverrun might occur, Total time : 2128.855 us (Expected < 1666.667 us) --> Read time : 291.356 us, Update time : 162.759 us, Write time : 1674.740 us + 10.54sWARNros2_control_nodeOverrun might occur, Total time : 2128.855 us (Expected < 1666.667 us) --> Read time : 291.356 us, Update time : 162.759 us, Write time : 1674.740 us[0m ×2 + 10.63sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.63sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 10.64sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.72sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 10.74sINFOobjective_server_nodeFound path in 5 iterations (0.00467934 s). ×2 + 10.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 10.79sINFOobjective_server_nodeFound path in 1 iterations (0.002351 s). ×2 + 10.85sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 10.87sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 10.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X] ×2 + 11.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 11.04sINFOros2_control_node[2026-06-08 20:34:16.213] [info] Received new action goal ×2 + 11.04sINFOros2_control_node[2026-06-08 20:34:16.213] [info] Accepted new action goal ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855355 ms (missed cycles : 4). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855355 ms (missed cycles : 4).[0m ×2 + 12.15sWARNcontroller_managerOverrun might occur, Total time : 4481.922 us (Expected < 1666.667 us) --> Read time : 154.188 us, Update time : 3850.798 us, Write time : 476.936 us + 12.15sWARNros2_control_nodeOverrun might occur, Total time : 4481.922 us (Expected < 1666.667 us) --> Read time : 154.188 us, Update time : 3850.798 us, Write time : 476.936 us[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.431349 ms (missed cycles : 8). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.431349 ms (missed cycles : 8).[0m ×2 + 13.21sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 13.50sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 13.50sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 13.50sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 13.50sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 13.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780950858.68973279 seconds ×3 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958125 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958125 ms (missed cycles : 2).[0m ×2 + 14.23sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780950859.41051078 seconds. ×3 + 14.28sWARNcontroller_managerOverrun might occur, Total time : 2303.994 us (Expected < 1666.667 us) --> Read time : 113.396 us, Update time : 1653.649 us, Write time : 536.949 us + 14.28sWARNros2_control_nodeOverrun might occur, Total time : 2303.994 us (Expected < 1666.667 us) --> Read time : 113.396 us, Update time : 1653.649 us, Write time : 536.949 us[0m ×2 + 14.42sINFOros2_control_node[2026-06-08 20:34:19.594] [info] Received new action goal ×2 + 14.42sINFOros2_control_node[2026-06-08 20:34:19.594] [info] Accepted new action goal ×2 + 14.48sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.48sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.48sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.48sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931719 ms (missed cycles : 3). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931719 ms (missed cycles : 3).[0m ×2 + 15.43sWARNcontroller_managerOverrun might occur, Total time : 4846.842 us (Expected < 1666.667 us) --> Read time : 86.845 us, Update time : 4438.759 us, Write time : 321.238 us + 15.43sWARNros2_control_nodeOverrun might occur, Total time : 4846.842 us (Expected < 1666.667 us) --> Read time : 86.845 us, Update time : 4438.759 us, Write time : 321.238 us[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003931 ms (missed cycles : 3). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003931 ms (missed cycles : 3).[0m ×2 + 16.53sWARNcontroller_managerOverrun might occur, Total time : 7413.950 us (Expected < 1666.667 us) --> Read time : 6881.711 us, Update time : 73.604 us, Write time : 458.635 us + 16.53sWARNros2_control_nodeOverrun might occur, Total time : 7413.950 us (Expected < 1666.667 us) --> Read time : 6881.711 us, Update time : 73.604 us, Write time : 458.635 us[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950093 ms (missed cycles : 3). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950093 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 87 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2).[0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 5374.231 us (Expected < 1666.667 us) --> Read time : 150.509 us, Update time : 4823.520 us, Write time : 400.202 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 5374.231 us (Expected < 1666.667 us) --> Read time : 150.509 us, Update time : 4823.520 us, Write time : 400.202 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147416 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147416 ms (missed cycles : 2).[0m ×2 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654936 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654936 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780951044.87202358 seconds ×3 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159587 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159587 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780951045.62668419 seconds. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-06-08 20:37:25.860] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-06-08 20:37:25.861] [info] Accepted new action goal ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.62sINFOfoxglove_bridgeRemoving channel 79 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.62sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 3.62sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 79 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.62sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 5304.456 us (Expected < 1666.667 us) --> Read time : 155.318 us, Update time : 4601.458 us, Write time : 547.680 us + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 5304.456 us (Expected < 1666.667 us) --> Read time : 155.318 us, Update time : 4601.458 us, Write time : 547.680 us[0m ×2 + 3.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.35% of iterations over budget over 4:10.015 of wall time (273/77286). Below 1% is expected on a non-realtime system.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338003 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338003 ms (missed cycles : 4).[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 5319.577 us (Expected < 1666.667 us) --> Read time : 135.817 us, Update time : 4808.679 us, Write time : 375.081 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 5319.577 us (Expected < 1666.667 us) --> Read time : 135.817 us, Update time : 4808.679 us, Write time : 375.081 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759081 ms (missed cycles : 7). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759081 ms (missed cycles : 7).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866551 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866551 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun might occur, Total time : 2611.681 us (Expected < 1666.667 us) --> Read time : 150.788 us, Update time : 2137.665 us, Write time : 323.228 us + 6.34sWARNros2_control_nodeOverrun might occur, Total time : 2611.681 us (Expected < 1666.667 us) --> Read time : 150.788 us, Update time : 2137.665 us, Write time : 323.228 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582163 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582163 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 7505.276 us (Expected < 1666.667 us) --> Read time : 170.409 us, Update time : 6834.610 us, Write time : 500.257 us + 7.42sWARNros2_control_nodeOverrun might occur, Total time : 7505.276 us (Expected < 1666.667 us) --> Read time : 170.409 us, Update time : 6834.610 us, Write time : 500.257 us[0m ×2 + 7.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.73sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.05sINFOobjective_server_nodeFound path in 5 iterations (0.00318639 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 8.10sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.13sINFOros2_control_node[2026-06-08 20:37:30.382] [info] Received new action goal ×2 + 8.13sINFOros2_control_node[2026-06-08 20:37:30.382] [info] Accepted new action goal ×2 + 8.15sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/solution" + 8.15sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/solution"[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238939 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238939 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun might occur, Total time : 3136.309 us (Expected < 1666.667 us) --> Read time : 152.639 us, Update time : 2519.385 us, Write time : 464.285 us + 8.50sWARNros2_control_nodeOverrun might occur, Total time : 3136.309 us (Expected < 1666.667 us) --> Read time : 152.639 us, Update time : 2519.385 us, Write time : 464.285 us[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629778 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629778 ms (missed cycles : 3).[0m ×2 + 9.82sWARNcontroller_managerOverrun might occur, Total time : 5651.276 us (Expected < 1666.667 us) --> Read time : 230.953 us, Update time : 4860.243 us, Write time : 560.080 us + 9.82sWARNros2_control_nodeOverrun might occur, Total time : 5651.276 us (Expected < 1666.667 us) --> Read time : 230.953 us, Update time : 4860.243 us, Write time : 560.080 us[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 10.35sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 10.35sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 11.04sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 11.04sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 12.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.11sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 12.11sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 12.13sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 12.13sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 13.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 13.82sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 13.83sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 14.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 14.46sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 14.72sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.72sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.72sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.72sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 14.85sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 14.85sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 16.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.44sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 16.44sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 96 warnings · 181 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.54sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 0.54sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.92sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.64sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 3.92sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.30sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.13sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun might occur, Total time : 3557.551 us (Expected < 1666.667 us) --> Read time : 106.175 us, Update time : 3068.586 us, Write time : 382.790 us + 6.41sWARNros2_control_nodeOverrun might occur, Total time : 3557.551 us (Expected < 1666.667 us) --> Read time : 106.175 us, Update time : 3068.586 us, Write time : 382.790 us[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665911 ms (missed cycles : 4). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665911 ms (missed cycles : 4).[0m ×2 + 7.87sWARNcontroller_managerOverrun might occur, Total time : 2024.650 us (Expected < 1666.667 us) --> Read time : 144.118 us, Update time : 1550.854 us, Write time : 329.678 us + 7.87sWARNros2_control_nodeOverrun might occur, Total time : 2024.650 us (Expected < 1666.667 us) --> Read time : 144.118 us, Update time : 1550.854 us, Write time : 329.678 us[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087596 ms (missed cycles : 3). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087596 ms (missed cycles : 3).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932783 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932783 ms (missed cycles : 3).[0m ×2 + 9.21sWARNcontroller_managerOverrun might occur, Total time : 1774.946 us (Expected < 1666.667 us) --> Read time : 153.118 us, Update time : 1231.947 us, Write time : 389.881 us + 9.21sWARNros2_control_nodeOverrun might occur, Total time : 1774.946 us (Expected < 1666.667 us) --> Read time : 153.118 us, Update time : 1231.947 us, Write time : 389.881 us[0m ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 9.89sINFOros2_control_node[2026-06-08 20:33:30.724] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-06-08 20:33:30.724] [info] Accepted new action goal ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.627743 ms (missed cycles : 7). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.627743 ms (missed cycles : 7).[0m ×2 + 10.78sWARNcontroller_managerOverrun might occur, Total time : 2821.652 us (Expected < 1666.667 us) --> Read time : 157.089 us, Update time : 2316.645 us, Write time : 347.918 us + 10.78sWARNros2_control_nodeOverrun might occur, Total time : 2821.652 us (Expected < 1666.667 us) --> Read time : 157.089 us, Update time : 2316.645 us, Write time : 347.918 us[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457157 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457157 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 11.85sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 13.11sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 13.12sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.22sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 13.22sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 13.59sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 13.59sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 13.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 14.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 14.21sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 14.21sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 14.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 14.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 14.94sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 14.94sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 15.68sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 15.69sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 16.04sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 16.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.05sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 16.05sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 17.03sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 17.03sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 87 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2258.972 us (Expected < 1666.667 us) --> Read time : 136.907 us, Update time : 1724.023 us, Write time : 398.042 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2258.972 us (Expected < 1666.667 us) --> Read time : 136.907 us, Update time : 1724.023 us, Write time : 398.042 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890550 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890550 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904228 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904228 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun might occur, Total time : 2222.520 us (Expected < 1666.667 us) --> Read time : 202.151 us, Update time : 1535.993 us, Write time : 484.376 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 2222.520 us (Expected < 1666.667 us) --> Read time : 202.151 us, Update time : 1535.993 us, Write time : 484.376 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618890 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618890 ms (missed cycles : 5).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 2093.473 us (Expected < 1666.667 us) --> Read time : 468.646 us, Update time : 1248.877 us, Write time : 375.950 us + 3.09sWARNros2_control_nodeOverrun might occur, Total time : 2093.473 us (Expected < 1666.667 us) --> Read time : 468.646 us, Update time : 1248.877 us, Write time : 375.950 us[0m ×2 + 3.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780951066.92685318 seconds ×3 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160197 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160197 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780951067.49582148 seconds. ×3 + 3.88sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.88sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.06sINFOros2_control_node[2026-06-08 20:37:47.726] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-06-08 20:37:47.726] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 1924.014 us (Expected < 1666.667 us) --> Read time : 128.257 us, Update time : 1555.344 us, Write time : 240.413 us + 4.23sWARNros2_control_nodeOverrun might occur, Total time : 1924.014 us (Expected < 1666.667 us) --> Read time : 128.257 us, Update time : 1555.344 us, Write time : 240.413 us[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591706 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591706 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085127 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 5804.823 us (Expected < 1666.667 us) --> Read time : 5304.426 us, Update time : 85.034 us, Write time : 415.363 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 5804.823 us (Expected < 1666.667 us) --> Read time : 5304.426 us, Update time : 85.034 us, Write time : 415.363 us[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276832 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276832 ms (missed cycles : 4).[0m ×2 + 7.16sWARNcontroller_managerOverrun might occur, Total time : 3821.736 us (Expected < 1666.667 us) --> Read time : 164.729 us, Update time : 3159.710 us, Write time : 497.297 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 3821.736 us (Expected < 1666.667 us) --> Read time : 164.729 us, Update time : 3159.710 us, Write time : 497.297 us[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155594 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155594 ms (missed cycles : 3).[0m ×2 + 8.08sINFOros2_control_node[2026-06-08 20:37:51.743] [info] Received new action goal ×2 + 8.08sINFOros2_control_node[2026-06-08 20:37:51.743] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198356 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198356 ms (missed cycles : 2).[0m ×2 + 8.91sWARNcontroller_managerOverrun might occur, Total time : 2053.241 us (Expected < 1666.667 us) --> Read time : 173.099 us, Update time : 105.546 us, Write time : 1774.596 us + 8.91sWARNros2_control_nodeOverrun might occur, Total time : 2053.241 us (Expected < 1666.667 us) --> Read time : 173.099 us, Update time : 105.546 us, Write time : 1774.596 us[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180853 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180853 ms (missed cycles : 2).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468280 ms (missed cycles : 5). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468280 ms (missed cycles : 5).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865206 ms (missed cycles : 4). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865206 ms (missed cycles : 4).[0m ×2 + 11.97sWARNcontroller_managerOverrun might occur, Total time : 5098.974 us (Expected < 1666.667 us) --> Read time : 171.389 us, Update time : 4504.943 us, Write time : 422.642 us + 11.97sWARNros2_control_nodeOverrun might occur, Total time : 5098.974 us (Expected < 1666.667 us) --> Read time : 171.389 us, Update time : 4504.943 us, Write time : 422.642 us[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020885 ms (missed cycles : 6). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020885 ms (missed cycles : 6).[0m ×2 + 13.61sWARNcontroller_managerOverrun might occur, Total time : 2158.166 us (Expected < 1666.667 us) --> Read time : 366.779 us, Update time : 353.440 us, Write time : 1437.947 us + 13.61sWARNros2_control_nodeOverrun might occur, Total time : 2158.166 us (Expected < 1666.667 us) --> Read time : 366.779 us, Update time : 353.440 us, Write time : 1437.947 us[0m ×2 + 13.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780951077.33030844 seconds ×3 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487439 ms (missed cycles : 5). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487439 ms (missed cycles : 5).[0m ×2 + 14.28sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780951077.95048332 seconds. ×3 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 14.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.40sINFOros2_control_node[2026-06-08 20:37:58.064] [info] Received new action goal ×2 + 14.40sINFOros2_control_node[2026-06-08 20:37:58.064] [info] Accepted new action goal ×2 + 14.46sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 14.46sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 14.71sWARNcontroller_managerOverrun might occur, Total time : 1675.500 us (Expected < 1666.667 us) --> Read time : 700.008 us, Update time : 114.966 us, Write time : 860.526 us + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084338 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun might occur, Total time : 1675.500 us (Expected < 1666.667 us) --> Read time : 700.008 us, Update time : 114.966 us, Write time : 860.526 us[0m ×2 + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084338 ms (missed cycles : 2).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.775362 ms (missed cycles : 7). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.775362 ms (missed cycles : 7).[0m ×2 + 15.77sWARNcontroller_managerOverrun might occur, Total time : 5721.459 us (Expected < 1666.667 us) --> Read time : 148.408 us, Update time : 5161.079 us, Write time : 411.972 us + 15.77sWARNros2_control_nodeOverrun might occur, Total time : 5721.459 us (Expected < 1666.667 us) --> Read time : 148.408 us, Update time : 5161.079 us, Write time : 411.972 us[0m ×2 + 16.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.912034 ms (missed cycles : 6). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.912034 ms (missed cycles : 6).[0m ×2 + 17.12sWARNcontroller_managerOverrun might occur, Total time : 3443.265 us (Expected < 1666.667 us) --> Read time : 143.797 us, Update time : 2640.743 us, Write time : 658.725 us + 17.12sWARNros2_control_nodeOverrun might occur, Total time : 3443.265 us (Expected < 1666.667 us) --> Read time : 143.797 us, Update time : 2640.743 us, Write time : 658.725 us[0m ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.8s | 78 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8).[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950882.13051438 seconds. ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.42sWARNcontroller_managerOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.42sWARNros2_control_nodeOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us[0m ×2 + 0.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950882.20065188 seconds ×3 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950882.74305224 seconds. ×3 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.08sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12).[0m ×2 + 2.64sWARNcontroller_managerOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950884.86960244 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3).[0m ×2 + 3.64sWARNcontroller_managerOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us + 3.64sWARNros2_control_nodeOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us[0m ×2 + 3.65sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950885.43110275 seconds. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.79sINFOros2_control_node[2026-06-08 20:34:45.566] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-06-08 20:34:45.567] [info] Accepted new action goal ×2 + 4.10sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 4.10sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 1829.529 us (Expected < 1666.667 us) --> Read time : 134.907 us, Update time : 1405.836 us, Write time : 288.786 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 1829.529 us (Expected < 1666.667 us) --> Read time : 134.907 us, Update time : 1405.836 us, Write time : 288.786 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276745 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276745 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606407 ms (missed cycles : 7). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606407 ms (missed cycles : 7).[0m ×2 + 7.28sWARNcontroller_managerOverrun might occur, Total time : 1992.677 us (Expected < 1666.667 us) --> Read time : 166.589 us, Update time : 39.232 us, Write time : 1786.856 us + 7.28sWARNros2_control_nodeOverrun might occur, Total time : 1992.677 us (Expected < 1666.667 us) --> Read time : 166.589 us, Update time : 39.232 us, Write time : 1786.856 us[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199302 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199302 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291362 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291362 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun might occur, Total time : 1957.295 us (Expected < 1666.667 us) --> Read time : 133.717 us, Update time : 1399.335 us, Write time : 424.243 us + 8.49sWARNros2_control_nodeOverrun might occur, Total time : 1957.295 us (Expected < 1666.667 us) --> Read time : 133.717 us, Update time : 1399.335 us, Write time : 424.243 us[0m ×2 + 8.71sINFOobjective_server_node[0;93m2026-06-08 20:34:50.485297793 [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 + 8.71sINFOobjective_server_node[0;93m2026-06-08 20:34:50.485336895 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.24sINFOobjective_server_node[0;93m2026-06-08 20:34:51.015586396 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.24sINFOobjective_server_node[0;93m2026-06-08 20:34:51.015641119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.35sINFOobjective_server_node[0;93m2026-06-08 20:34:51.125269579 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.35sINFOobjective_server_node[0;93m2026-06-08 20:34:51.128179856 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.35sINFOobjective_server_node[0;93m2026-06-08 20:34:51.128208658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368163 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368163 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun might occur, Total time : 7104.683 us (Expected < 1666.667 us) --> Read time : 127.057 us, Update time : 6479.119 us, Write time : 498.507 us + 9.53sWARNros2_control_nodeOverrun might occur, Total time : 7104.683 us (Expected < 1666.667 us) --> Read time : 127.057 us, Update time : 6479.119 us, Write time : 498.507 us[0m ×2 + 9.63sINFOobjective_server_node[0;93m2026-06-08 20:34:51.410335110 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.65sINFOobjective_server_node[0;93m2026-06-08 20:34:51.425532099 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.65sINFOobjective_server_node[0;93m2026-06-08 20:34:51.425568561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784561 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784561 ms (missed cycles : 2).[0m ×2 + 10.92sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950892.70296001 seconds ×3 + 11.00sWARNcontroller_managerOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us + 11.00sWARNros2_control_nodeOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us[0m ×2 + 11.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 11.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4).[0m ×2 + 11.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950893.30265141 seconds. ×3 + 11.65sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.65sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.65sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 11.66sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 12.02sWARNcontroller_managerOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us + 12.02sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794939775 [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 + 12.02sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794997568 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.02sWARNros2_control_nodeOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2).[0m ×2 + 12.50sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278547283 [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 + 12.50sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278579065 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.59sINFOobjective_server_node[0;93m2026-06-08 20:34:54.373813024 [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 + 12.60sINFOobjective_server_node[0;93m2026-06-08 20:34:54.375521826 [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 + 12.60sINFOobjective_server_node[0;93m2026-06-08 20:34:54.375538977 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.88sINFOobjective_server_node[0;93m2026-06-08 20:34:54.654732898 [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 + 12.89sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668269059 [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 + 12.89sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668312461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5).[0m ×2 + 13.67sWARNcontroller_managerOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us + 13.67sWARNros2_control_nodeOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us[0m ×2 + 13.75sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950895.52962208 seconds ×3 + 14.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 14.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 14.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950896.32663512 seconds. ×3 + 14.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7).[0m ×2 + 14.68sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 14.68sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 2.8s | 48 warnings · 98 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291362 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291362 ms (missed cycles : 2).[0m ×2 + 0.13sWARNcontroller_managerOverrun might occur, Total time : 1957.295 us (Expected < 1666.667 us) --> Read time : 133.717 us, Update time : 1399.335 us, Write time : 424.243 us + 0.13sWARNros2_control_nodeOverrun might occur, Total time : 1957.295 us (Expected < 1666.667 us) --> Read time : 133.717 us, Update time : 1399.335 us, Write time : 424.243 us[0m ×2 + 0.34sINFOobjective_server_node[0;93m2026-06-08 20:34:50.485297793 [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 + 0.34sINFOobjective_server_node[0;93m2026-06-08 20:34:50.485336895 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.87sINFOobjective_server_node[0;93m2026-06-08 20:34:51.015586396 [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 + 0.87sINFOobjective_server_node[0;93m2026-06-08 20:34:51.015641119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.98sINFOobjective_server_node[0;93m2026-06-08 20:34:51.125269579 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-06-08 20:34:51.128179856 [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 + 0.99sINFOobjective_server_node[0;93m2026-06-08 20:34:51.128208658 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368163 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368163 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun might occur, Total time : 7104.683 us (Expected < 1666.667 us) --> Read time : 127.057 us, Update time : 6479.119 us, Write time : 498.507 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 7104.683 us (Expected < 1666.667 us) --> Read time : 127.057 us, Update time : 6479.119 us, Write time : 498.507 us[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-08 20:34:51.410335110 [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 + 1.28sINFOobjective_server_node[0;93m2026-06-08 20:34:51.425532099 [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 + 1.28sINFOobjective_server_node[0;93m2026-06-08 20:34:51.425568561 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784561 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784561 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950892.70296001 seconds ×3 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us[0m ×2 + 2.79sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 2.79sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950893.30265141 seconds. ×3 + 3.29sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.29sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.29sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.29sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 3.65sWARNcontroller_managerOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us + 3.65sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794939775 [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 + 3.66sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794997568 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278547283 [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 + 4.13sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278579065 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.23sINFOobjective_server_node[0;93m2026-06-08 20:34:54.373813024 [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 + 4.23sINFOobjective_server_node[0;93m2026-06-08 20:34:54.375521826 [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 + 4.23sINFOobjective_server_node[0;93m2026-06-08 20:34:54.375538977 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.51sINFOobjective_server_node[0;93m2026-06-08 20:34:54.654732898 [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 + 4.52sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668269059 [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 + 4.52sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668312461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us[0m ×2 + 5.38sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950895.52962208 seconds ×3 + 5.81sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 5.81sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950896.32663512 seconds. ×3 + 6.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7).[0m ×2 + 6.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.31sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 6.47sWARNcontroller_managerOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us[0m ×2 + 7.21sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.23sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.32sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 7.32sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4).[0m ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.54sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Received new action goal ×2 + 7.54sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Accepted new action goal ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4).[0m ×2 + 8.58sWARNcontroller_managerOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us + 8.58sWARNros2_control_nodeOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 48 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 7092.792 us (Expected < 1666.667 us) --> Read time : 133.747 us, Update time : 6461.928 us, Write time : 497.117 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 7092.792 us (Expected < 1666.667 us) --> Read time : 133.747 us, Update time : 6461.928 us, Write time : 497.117 us[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865137 ms (missed cycles : 6). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865137 ms (missed cycles : 6).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059901 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059901 ms (missed cycles : 3).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780950881.49379086 seconds ×3 + 1.96sWARNcontroller_managerOverrun might occur, Total time : 2378.819 us (Expected < 1666.667 us) --> Read time : 155.668 us, Update time : 1808.898 us, Write time : 414.253 us + 1.96sWARNros2_control_nodeOverrun might occur, Total time : 2378.819 us (Expected < 1666.667 us) --> Read time : 155.668 us, Update time : 1808.898 us, Write time : 414.253 us[0m ×2 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOros2_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 11.974416 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950882.13051438 seconds. ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sWARNcontroller_managerOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sWARNros2_control_nodeOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950882.20065188 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950882.74305224 seconds. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.30sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12).[0m ×2 + 4.86sWARNcontroller_managerOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us + 4.87sWARNros2_control_nodeOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950884.86960244 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us[0m ×2 + 5.87sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950885.43110275 seconds. ×3 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 6.01sINFOros2_control_node[2026-06-08 20:34:45.566] [info] Received new action goal ×2 + 6.01sINFOros2_control_node[2026-06-08 20:34:45.567] [info] Accepted new action goal ×2 + 6.33sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 6.33sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3).[0m ×2 + 6.87sWARNcontroller_managerOverrun might occur, Total time : 1829.529 us (Expected < 1666.667 us) --> Read time : 134.907 us, Update time : 1405.836 us, Write time : 288.786 us + 6.87sWARNros2_control_nodeOverrun might occur, Total time : 1829.529 us (Expected < 1666.667 us) --> Read time : 134.907 us, Update time : 1405.836 us, Write time : 288.786 us[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276745 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276745 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606407 ms (missed cycles : 7). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606407 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 58 warnings · 498 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.04sINFOobjective_server_node[2026-06-08 20:33:15.890] [moveit_pro_license] [info] ×2 + 0.04sINFOobjective_server_node************************************************* ×4 + 0.04sINFOobjective_server_node* MoveIt Pro License ×2 + 0.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.26sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.26sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.27sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.27sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.27sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.27sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.27sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.27sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.27sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.27sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.27sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.27sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.27sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.40sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 0.40sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m ×2 + 0.40sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info" + 0.40sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/depth" + 0.40sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/depth" + 0.40sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/color" + 0.40sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info"[0m ×2 + 0.40sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/depth"[0m ×2 + 0.40sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/depth"[0m ×2 + 0.40sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/color"[0m ×2 + 0.40sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/points" + 0.40sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/points"[0m ×2 + 0.41sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description" + 0.41sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description"[0m ×2 + 0.41sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/statistics" + 0.41sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/statistics"[0m ×2 + 0.41sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/failure_reason_collector" + 0.41sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/points" + 0.41sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info" + 0.41sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/failure_reason_collector"[0m ×2 + 0.41sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/points"[0m ×2 + 0.41sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info"[0m ×2 + 0.46sINFOobjective_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. ×2 + 0.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.47sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.47sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.47sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.48sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.49sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.49sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.50sWARNcontroller_managerOverrun might occur, Total time : 4238.528 us (Expected < 1666.667 us) --> Read time : 127.707 us, Update time : 3792.604 us (Switch time : 3780.513 us (Switch chained mode time : 1.320 us, perform mode change time : 5.000 us, Activation time : 3766.523 us, Deactivation time : 1.300 us)), Write time : 318.217 us + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385440 ms (missed cycles : 3). + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.50sWARNros2_control_nodeOverrun might occur, Total time : 4238.528 us (Expected < 1666.667 us) --> Read time : 127.707 us, Update time : 3792.604 us (Switch time : 3780.513 us (Switch chained mode time : 1.320 us, perform mode change time : 5.000 us, Activation time : 3766.523 us, Deactivation time : 1.300 us)), Write time : 318.217 us[0m ×2 + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385440 ms (missed cycles : 3).[0m ×2 + 0.50sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9787] ×2 + 0.85sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.86sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.86sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.87sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.04sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/transient_monitored_planning_scene_without_octomap" + 1.04sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/visual_markers" + 1.06sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/visual_markers"[0m ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.06sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/controller_state" + 1.06sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/transition_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 1.06sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/blackboard_contents" + 1.06sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/blackboard_contents"[0m ×2 + 1.06sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/behavior_tree_status" + 1.06sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/behavior_tree_status"[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.17sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.17sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.17sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9789] ×2 + 1.21sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.22sINFOforce_torque_sensor_broadcasterconfigure successful + 1.22sINFOros2_control_nodeconfigure successful[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.23sWARNobjective_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 + 1.23sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.29sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 1.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.34sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.34sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.34sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 1.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.45sINFOmove_group ×4 + 1.45sINFOmove_group[92mYou can start planning now![0m ×2 + 1.52sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.52sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9786] ×2 + 1.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench" + 1.63sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 1.63sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 1.66sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.69sINFOros2_control_node[2026-06-08 20:33:17.537] [info] Controller state will be published at 10 Hz. ×2 + 1.69sINFOros2_control_node[2026-06-08 20:33:17.538] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9795] ×2 + 2.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 2.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 2.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.09sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.11sINFOros2_control_node[2026-06-08 20:33:17.963] [info] Controller state will be published at 20 Hz. ×2 + 2.11sINFOros2_control_node[2026-06-08 20:33:17.964] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.23sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state" + 2.23sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state"[0m ×2 + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command" + 2.24sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command"[0m ×2 + 2.24sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state" + 2.24sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command" + 2.24sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event" + 2.24sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.24sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command"[0m ×2 + 2.24sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 2.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9796] ×2 + 2.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 2.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 2.55sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 2.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 2.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.55sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.55sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.57sINFOros2_control_node[2026-06-08 20:33:18.422] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.57sINFOros2_control_node[2026-06-08 20:33:18.422] [info] Controller state will be published at 50 Hz. ×2 + 2.58sINFOros2_control_node[2026-06-08 20:33:18.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4).[0m ×2 + 2.77sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event" + 2.77sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state" + 2.77sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 2.77sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950798.62109089 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950798.63128591 seconds ×3 + 2.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9793] ×2 + 2.93sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 3.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 3.20sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 3.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 3.20sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.20sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.20sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.20sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.20sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.20sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.20sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.20sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.20sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.20sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.21sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 3.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us[0m ×2 + 3.30sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event" + 3.30sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 3.30sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states" + 3.30sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states"[0m ×2 + 3.30sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 3.30sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950799.17820263 seconds. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9788] ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 3.82sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.82sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 4.45sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 4.45sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 5.52sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 5.53sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 6.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 6.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 7.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 7.81sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 7.81sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 7.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 7.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.91sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 7.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.91sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 7.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 54 warnings · 294 info |
+ 0.00sINFOmove_group ×4 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9786] ×2 + 0.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench" + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.21sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.24sINFOros2_control_node[2026-06-08 20:33:17.537] [info] Controller state will be published at 10 Hz. ×2 + 0.24sINFOros2_control_node[2026-06-08 20:33:17.538] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9795] ×2 + 0.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.64sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.67sINFOros2_control_node[2026-06-08 20:33:17.963] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-06-08 20:33:17.964] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.78sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state" + 0.79sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command" + 0.79sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state" + 0.79sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command" + 0.79sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9796] ×2 + 1.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.10sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.10sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.10sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.12sINFOros2_control_node[2026-06-08 20:33:18.422] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.12sINFOros2_control_node[2026-06-08 20:33:18.422] [info] Controller state will be published at 50 Hz. ×2 + 1.13sINFOros2_control_node[2026-06-08 20:33:18.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950798.62109089 seconds. ×3 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950798.63128591 seconds ×3 + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9793] ×2 + 1.48sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.75sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.75sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.76sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us[0m ×2 + 1.85sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event" + 1.85sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.85sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states" + 1.85sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states"[0m ×2 + 1.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950799.17820263 seconds. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9788] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.38sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 4.08sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 5.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.46sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 7.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 7.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.18sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 7.46sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 0.9s | 3 errors · 39 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3621.125 us (Expected < 1666.667 us) --> Read time : 132.677 us, Update time : 3192.852 us, Write time : 295.596 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794480 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3621.125 us (Expected < 1666.667 us) --> Read time : 132.677 us, Update time : 3192.852 us, Write time : 295.596 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794480 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2).[0m ×2 + 2.84sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Got request to cancel active goal. ×2 + 2.84sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Canceling active goal... ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951100.83629012 seconds ×3 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.92sWARNcontroller_managerOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us + 2.92sWARNros2_control_nodeOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951101.39596653 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951101.75611377 seconds ×3 + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951102.29915977 seconds. ×3 + 4.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.31sINFOobjective_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 + 4.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951102.30066419 seconds ×3 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.36sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 4.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.36sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951102.84441590 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951102.84490728 seconds ×3 + 4.86sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 4.86sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951103.55279565 seconds. ×3 + 6.07sWARNcontroller_managerOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780951104.70294023 seconds ×3 + 6.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 42 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116818 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116818 ms (missed cycles : 2).[0m ×2 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 7092.792 us (Expected < 1666.667 us) --> Read time : 133.747 us, Update time : 6461.928 us, Write time : 497.117 us + 0.87sWARNros2_control_nodeOverrun might occur, Total time : 7092.792 us (Expected < 1666.667 us) --> Read time : 133.747 us, Update time : 6461.928 us, Write time : 497.117 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865137 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865137 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059901 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059901 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780950881.49379086 seconds ×3 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 2378.819 us (Expected < 1666.667 us) --> Read time : 155.668 us, Update time : 1808.898 us, Write time : 414.253 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 2378.819 us (Expected < 1666.667 us) --> Read time : 155.668 us, Update time : 1808.898 us, Write time : 414.253 us[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950882.13051438 seconds. ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950882.20065188 seconds ×3 + 4.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950882.74305224 seconds. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.17sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us + 5.74sWARNros2_control_nodeOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950884.86960244 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us + 6.73sWARNros2_control_nodeOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us[0m ×2 + 6.74sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950885.43110275 seconds. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 6.88sINFOros2_control_node[2026-06-08 20:34:45.566] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-06-08 20:34:45.567] [info] Accepted new action goal ×2 + 7.19sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 7.19sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 42 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2821.652 us (Expected < 1666.667 us) --> Read time : 157.089 us, Update time : 2316.645 us, Write time : 347.918 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2821.652 us (Expected < 1666.667 us) --> Read time : 157.089 us, Update time : 2316.645 us, Write time : 347.918 us[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457157 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457157 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 2.82sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 3.44sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.17sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 4.91sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.28sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 + 7.26sWARNcontroller_managerOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us + 7.26sWARNros2_control_nodeOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4).[0m ×2 + 0.73sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.73sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 3.67sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.68sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.6s | 42 warnings · 51 info |
+ 0.00sINFOros2_control_node[2026-06-08 20:33:53.241] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-08 20:33:53.241] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 5329.987 us (Expected < 1666.667 us) --> Read time : 130.996 us, Update time : 4782.919 us, Write time : 416.072 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 5329.987 us (Expected < 1666.667 us) --> Read time : 130.996 us, Update time : 4782.919 us, Write time : 416.072 us[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032360 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032360 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950836.19189358 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950836.75852942 seconds. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2).[0m ×2 + 3.58sWARNcontroller_managerOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us + 3.58sWARNros2_control_nodeOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950836.83866096 seconds ×3 + 3.72sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.72sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950837.45142102 seconds. ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.23sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5).[0m ×2 + 6.23sWARNcontroller_managerOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us + 6.23sWARNros2_control_nodeOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5).[0m ×2 + 7.23sWARNcontroller_managerOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us + 7.23sWARNros2_control_nodeOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.19sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.13sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819691 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819691 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1960.206 us (Expected < 1666.667 us) --> Read time : 124.506 us, Update time : 1536.603 us, Write time : 299.097 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1960.206 us (Expected < 1666.667 us) --> Read time : 124.506 us, Update time : 1536.603 us, Write time : 299.097 us[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.5s | 3 errors · 39 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2).[0m ×2 + 1.82sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Got request to cancel active goal. ×2 + 1.82sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Canceling active goal... ×2 + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951100.83629012 seconds ×3 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.90sWARNcontroller_managerOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us + 1.90sWARNros2_control_nodeOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951101.39596653 seconds. ×3 + 2.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951101.75611377 seconds ×3 + 2.83sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 2.83sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951102.29915977 seconds. ×3 + 3.29sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.29sINFOobjective_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 + 3.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951102.30066419 seconds ×3 + 3.33sWARNcontroller_managerOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us[0m ×2 + 3.34sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.34sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 3.34sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.34sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951102.84441590 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951102.84490728 seconds ×3 + 3.84sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 3.84sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951103.55279565 seconds. ×3 + 5.05sWARNcontroller_managerOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780951104.70294023 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087741 ms (missed cycles : 3). + 6.27sWARNcontroller_managerOverrun might occur, Total time : 7193.808 us (Expected < 1666.667 us) --> Read time : 153.198 us, Update time : 6604.257 us, Write time : 436.353 us + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087741 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 7193.808 us (Expected < 1666.667 us) --> Read time : 153.198 us, Update time : 6604.257 us, Write time : 436.353 us[0m ×2 + 7.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.33% of iterations over budget over 5:10.017 of wall time (320/95769). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.5s | 3 errors · 35 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2).[0m ×2 + 1.82sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Got request to cancel active goal. ×2 + 1.82sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Canceling active goal... ×2 + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951100.83629012 seconds ×3 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.90sWARNcontroller_managerOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us + 1.90sWARNros2_control_nodeOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951101.39596653 seconds. ×3 + 2.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951101.75611377 seconds ×3 + 2.83sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 2.83sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951102.29915977 seconds. ×3 + 3.29sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.29sINFOobjective_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 + 3.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951102.30066419 seconds ×3 + 3.33sWARNcontroller_managerOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us[0m ×2 + 3.34sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.34sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 3.34sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.34sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951102.84441590 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951102.84490728 seconds ×3 + 3.84sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 3.84sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951103.55279565 seconds. ×3 + 5.05sWARNcontroller_managerOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780951104.70294023 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087741 ms (missed cycles : 3). + 6.27sWARNcontroller_managerOverrun might occur, Total time : 7193.808 us (Expected < 1666.667 us) --> Read time : 153.198 us, Update time : 6604.257 us, Write time : 436.353 us | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.2s | 33 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950892.70296001 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us[0m ×2 + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950893.30265141 seconds. ×3 + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794939775 [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 + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794997568 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278547283 [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;93m2026-06-08 20:34:54.278579065 [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;93m2026-06-08 20:34:54.373813024 [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;93m2026-06-08 20:34:54.375521826 [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;93m2026-06-08 20:34:54.375538977 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.95sINFOobjective_server_node[0;93m2026-06-08 20:34:54.654732898 [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 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668269059 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668312461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us[0m ×2 + 2.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950895.52962208 seconds ×3 + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950896.32663512 seconds. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7).[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us[0m ×2 + 4.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.1s | 3 errors · 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.19sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.13sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819691 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819691 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1960.206 us (Expected < 1666.667 us) --> Read time : 124.506 us, Update time : 1536.603 us, Write time : 299.097 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1960.206 us (Expected < 1666.667 us) --> Read time : 124.506 us, Update time : 1536.603 us, Write time : 299.097 us[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.1s | 33 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2).[0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 5374.231 us (Expected < 1666.667 us) --> Read time : 150.509 us, Update time : 4823.520 us, Write time : 400.202 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 5374.231 us (Expected < 1666.667 us) --> Read time : 150.509 us, Update time : 4823.520 us, Write time : 400.202 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147416 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147416 ms (missed cycles : 2).[0m ×2 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654936 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654936 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780951044.87202358 seconds ×3 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159587 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159587 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780951045.62668419 seconds. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-06-08 20:37:25.860] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-06-08 20:37:25.861] [info] Accepted new action goal ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.62sINFOfoxglove_bridgeRemoving channel 79 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.62sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 3.62sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 79 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.62sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 5304.456 us (Expected < 1666.667 us) --> Read time : 155.318 us, Update time : 4601.458 us, Write time : 547.680 us + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 5304.456 us (Expected < 1666.667 us) --> Read time : 155.318 us, Update time : 4601.458 us, Write time : 547.680 us[0m ×2 + 3.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.35% of iterations over budget over 4:10.015 of wall time (273/77286). Below 1% is expected on a non-realtime system.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338003 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338003 ms (missed cycles : 4).[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 5319.577 us (Expected < 1666.667 us) --> Read time : 135.817 us, Update time : 4808.679 us, Write time : 375.081 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 5319.577 us (Expected < 1666.667 us) --> Read time : 135.817 us, Update time : 4808.679 us, Write time : 375.081 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759081 ms (missed cycles : 7). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759081 ms (missed cycles : 7).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866551 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866551 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun might occur, Total time : 2611.681 us (Expected < 1666.667 us) --> Read time : 150.788 us, Update time : 2137.665 us, Write time : 323.228 us + 6.34sWARNros2_control_nodeOverrun might occur, Total time : 2611.681 us (Expected < 1666.667 us) --> Read time : 150.788 us, Update time : 2137.665 us, Write time : 323.228 us[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.1s | 3 errors · 36 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 36 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8).[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950882.13051438 seconds. ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.42sWARNcontroller_managerOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.42sWARNros2_control_nodeOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us[0m ×2 + 0.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950882.20065188 seconds ×3 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950882.74305224 seconds. ×3 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.08sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12).[0m ×2 + 2.64sWARNcontroller_managerOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950884.86960244 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3).[0m ×2 + 3.64sWARNcontroller_managerOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us + 3.64sWARNros2_control_nodeOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us[0m ×2 + 3.65sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950885.43110275 seconds. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.79sINFOros2_control_node[2026-06-08 20:34:45.566] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-06-08 20:34:45.567] [info] Accepted new action goal ×2 + 4.10sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 4.10sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 1829.529 us (Expected < 1666.667 us) --> Read time : 134.907 us, Update time : 1405.836 us, Write time : 288.786 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 1829.529 us (Expected < 1666.667 us) --> Read time : 134.907 us, Update time : 1405.836 us, Write time : 288.786 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276745 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276745 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606407 ms (missed cycles : 7). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606407 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 36 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8).[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950882.13051438 seconds. ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.42sWARNcontroller_managerOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.42sWARNros2_control_nodeOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us[0m ×2 + 0.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950882.20065188 seconds ×3 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950882.74305224 seconds. ×3 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.08sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12).[0m ×2 + 2.64sWARNcontroller_managerOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950884.86960244 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3).[0m ×2 + 3.64sWARNcontroller_managerOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us + 3.64sWARNros2_control_nodeOverrun might occur, Total time : 3680.458 us (Expected < 1666.667 us) --> Read time : 124.687 us, Update time : 3100.867 us, Write time : 454.904 us[0m ×2 + 3.65sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780950885.43110275 seconds. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.79sINFOros2_control_node[2026-06-08 20:34:45.566] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-06-08 20:34:45.567] [info] Accepted new action goal ×2 + 4.10sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 4.10sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084924 ms (missed cycles : 3).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 1829.529 us (Expected < 1666.667 us) --> Read time : 134.907 us, Update time : 1405.836 us, Write time : 288.786 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 1829.529 us (Expected < 1666.667 us) --> Read time : 134.907 us, Update time : 1405.836 us, Write time : 288.786 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276745 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276745 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606407 ms (missed cycles : 7). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606407 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549681 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549681 ms (missed cycles : 3).[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 3666.287 us (Expected < 1666.667 us) --> Read time : 94.465 us, Update time : 3072.435 us, Write time : 499.387 us + 0.34sWARNros2_control_nodeOverrun might occur, Total time : 3666.287 us (Expected < 1666.667 us) --> Read time : 94.465 us, Update time : 3072.435 us, Write time : 499.387 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938349 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938349 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun might occur, Total time : 1716.752 us (Expected < 1666.667 us) --> Read time : 186.740 us, Update time : 1091.559 us, Write time : 438.453 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 1716.752 us (Expected < 1666.667 us) --> Read time : 186.740 us, Update time : 1091.559 us, Write time : 438.453 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764183 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764183 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929199 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929199 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780950950.31922841 seconds ×3 + 3.17sWARNcontroller_managerOverrun might occur, Total time : 2984.572 us (Expected < 1666.667 us) --> Read time : 103.756 us, Update time : 2535.217 us, Write time : 345.599 us + 3.18sWARNros2_control_nodeOverrun might occur, Total time : 2984.572 us (Expected < 1666.667 us) --> Read time : 103.756 us, Update time : 2535.217 us, Write time : 345.599 us[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780950950.94431186 seconds. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.92sINFOros2_control_node[2026-06-08 20:35:51.087] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-08 20:35:51.087] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499637 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499637 ms (missed cycles : 4).[0m ×2 + 4.27sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 4.27sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2154.208 us (Expected < 1666.667 us) --> Read time : 173.370 us, Update time : 1547.974 us, Write time : 432.864 us + 4.56sWARNros2_control_nodeOverrun might occur, Total time : 2154.208 us (Expected < 1666.667 us) --> Read time : 173.370 us, Update time : 1547.974 us, Write time : 432.864 us[0m ×2 + 5.19sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.25sINFOcontroller_managerSuccessfully switched controllers! + 5.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148144 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148144 ms (missed cycles : 2).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1786.037 us (Expected < 1666.667 us) --> Read time : 124.117 us, Update time : 1363.374 us, Write time : 298.546 us + 6.04sWARNros2_control_nodeOverrun might occur, Total time : 1786.037 us (Expected < 1666.667 us) --> Read time : 124.117 us, Update time : 1363.374 us, Write time : 298.546 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391839 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391839 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2821.652 us (Expected < 1666.667 us) --> Read time : 157.089 us, Update time : 2316.645 us, Write time : 347.918 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2821.652 us (Expected < 1666.667 us) --> Read time : 157.089 us, Update time : 2316.645 us, Write time : 347.918 us[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457157 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457157 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 2.82sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 3.44sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.17sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 4.91sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.28sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2821.652 us (Expected < 1666.667 us) --> Read time : 157.089 us, Update time : 2316.645 us, Write time : 347.918 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2821.652 us (Expected < 1666.667 us) --> Read time : 157.089 us, Update time : 2316.645 us, Write time : 347.918 us[0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457157 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457157 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 2.82sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 3.44sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.17sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 4.91sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.28sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 36 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 36 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 36 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1870.350 us (Expected < 1666.667 us) --> Read time : 92.595 us, Update time : 1494.220 us, Write time : 283.535 us[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314138 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 1819.578 us (Expected < 1666.667 us) --> Read time : 141.448 us, Update time : 1378.814 us, Write time : 299.316 us[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039321 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-06-08 20:33:34.058] [info] Accepted new action goal ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Got request to cancel active goal. ×2 + 1.75sINFOros2_control_node[2026-06-08 20:33:34.430] [info] Canceling active goal... ×2 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780950814.43962145 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780950814.99981093 seconds. ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2). + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288837 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1761.384 us (Expected < 1666.667 us) --> Read time : 1280.719 us, Update time : 47.882 us, Write time : 432.783 us[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780950815.11995077 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780950815.74160790 seconds. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198854 ms (missed cycles : 5).[0m ×2 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 5220.281 us (Expected < 1666.667 us) --> Read time : 177.820 us, Update time : 4689.962 us, Write time : 352.499 us[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-06-08 20:33:36.885] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.740182 ms (missed cycles : 8).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 1913.744 us (Expected < 1666.667 us) --> Read time : 122.596 us, Update time : 1454.339 us, Write time : 336.809 us[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774429 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 1710.462 us (Expected < 1666.667 us) --> Read time : 155.238 us, Update time : 1314.671 us, Write time : 240.553 us[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950836.19189358 seconds ×3 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950836.75852942 seconds. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950836.83866096 seconds ×3 + 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 + 2.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950837.45142102 seconds. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950836.19189358 seconds ×3 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950836.75852942 seconds. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950836.83866096 seconds ×3 + 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 + 2.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950837.45142102 seconds. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950836.19189358 seconds ×3 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950836.75852942 seconds. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950836.83866096 seconds ×3 + 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 + 2.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950837.45142102 seconds. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 3240.625 us (Expected < 1666.667 us) --> Read time : 214.892 us, Update time : 2423.100 us, Write time : 602.633 us[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025716 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-08 20:33:54.905] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 5238.313 us (Expected < 1666.667 us) --> Read time : 153.769 us, Update time : 4716.384 us, Write time : 368.160 us[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255357 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780950836.19189358 seconds ×3 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780950836.75852942 seconds. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286233 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 5241.533 us (Expected < 1666.667 us) --> Read time : 183.870 us, Update time : 4635.640 us, Write time : 422.023 us[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780950836.83866096 seconds ×3 + 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 + 2.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780950837.45142102 seconds. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.93sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-06-08 20:33:57.555] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458739 ms (missed cycles : 3).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 8625.956 us (Expected < 1666.667 us) --> Read time : 161.899 us, Update time : 8086.946 us, Write time : 377.111 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716467 ms (missed cycles : 5).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 3586.854 us (Expected < 1666.667 us) --> Read time : 97.616 us, Update time : 3185.531 us, Write time : 303.707 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509435 ms (missed cycles : 5).[0m ×2 + 5.94sWARNcontroller_managerOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 2052.300 us (Expected < 1666.667 us) --> Read time : 130.777 us, Update time : 1658.809 us, Write time : 262.714 us[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004249 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 3937.912 us (Expected < 1666.667 us) --> Read time : 115.886 us, Update time : 3130.649 us, Write time : 691.377 us[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-06-08 20:34:05.562] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994422 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 8412.494 us (Expected < 1666.667 us) --> Read time : 7918.177 us, Update time : 85.345 us, Write time : 408.972 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655084 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 5391.452 us (Expected < 1666.667 us) --> Read time : 218.222 us, Update time : 4723.625 us, Write time : 449.605 us[0m ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780950847.87730980 seconds ×3 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158931 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 2002.458 us (Expected < 1666.667 us) --> Read time : 191.050 us, Update time : 1414.077 us, Write time : 397.331 us[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780950848.44708085 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 3.37sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076310 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 7075.434 us (Expected < 1666.667 us) --> Read time : 131.208 us, Update time : 6453.719 us, Write time : 490.507 us[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-08 20:34:09.601] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345020 ms (missed cycles : 5).[0m ×2 + 5.67sWARNcontroller_managerOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1996.628 us (Expected < 1666.667 us) --> Read time : 183.060 us, Update time : 1407.966 us, Write time : 405.602 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.323885 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 30 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898376 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898376 ms (missed cycles : 3).[0m ×2 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.16sINFOobjective_server_nodeFound path in 5 iterations (0.00352386 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.22sINFOros2_control_node[2026-06-08 20:34:27.395] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-08 20:34:27.395] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 1808.468 us (Expected < 1666.667 us) --> Read time : 106.896 us, Update time : 1445.798 us, Write time : 255.774 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 1808.468 us (Expected < 1666.667 us) --> Read time : 106.896 us, Update time : 1445.798 us, Write time : 255.774 us[0m ×2 + 0.61sINFOros2_control_node[2026-06-08 20:34:27.787] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-06-08 20:34:27.787] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987545 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987545 ms (missed cycles : 3).[0m ×2 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829282 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829282 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun might occur, Total time : 5492.156 us (Expected < 1666.667 us) --> Read time : 109.206 us, Update time : 4988.609 us, Write time : 394.341 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 5492.156 us (Expected < 1666.667 us) --> Read time : 109.206 us, Update time : 4988.609 us, Write time : 394.341 us[0m ×2 + 2.65sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.65sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.65sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.65sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780950869.84096265 seconds ×3 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953896 ms (missed cycles : 6). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953896 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780950870.48449326 seconds. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.40sINFOros2_control_node[2026-06-08 20:34:30.577] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-06-08 20:34:30.577] [info] Accepted new action goal ×2 + 3.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.60sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.60sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 1967.057 us (Expected < 1666.667 us) --> Read time : 572.881 us, Update time : 1064.838 us, Write time : 329.338 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1967.057 us (Expected < 1666.667 us) --> Read time : 572.881 us, Update time : 1064.838 us, Write time : 329.338 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723813 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723813 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950115 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950115 ms (missed cycles : 3).[0m ×2 + 5.75sINFOros2_control_node[2026-06-08 20:34:32.930] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-06-08 20:34:32.930] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924433 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924433 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 36 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116818 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116818 ms (missed cycles : 2).[0m ×2 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 7092.792 us (Expected < 1666.667 us) --> Read time : 133.747 us, Update time : 6461.928 us, Write time : 497.117 us + 0.87sWARNros2_control_nodeOverrun might occur, Total time : 7092.792 us (Expected < 1666.667 us) --> Read time : 133.747 us, Update time : 6461.928 us, Write time : 497.117 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865137 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865137 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059901 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059901 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780950881.49379086 seconds ×3 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 2378.819 us (Expected < 1666.667 us) --> Read time : 155.668 us, Update time : 1808.898 us, Write time : 414.253 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 2378.819 us (Expected < 1666.667 us) --> Read time : 155.668 us, Update time : 1808.898 us, Write time : 414.253 us[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.974416 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780950882.13051438 seconds. ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 2886.055 us (Expected < 1666.667 us) --> Read time : 172.149 us, Update time : 2341.386 us (Switch time : 2315.314 us (Switch chained mode time : 0.690 us, perform mode change time : 2.940 us, Activation time : 2306.534 us, Deactivation time : 0.340 us)), Write time : 372.520 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780950882.20065188 seconds ×3 + 4.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780950882.74305224 seconds. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995037 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-08 20:34:42.858] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 5242.332 us (Expected < 1666.667 us) --> Read time : 140.777 us, Update time : 4748.656 us, Write time : 352.899 us[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.761769 ms (missed cycles : 12).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us + 5.74sWARNros2_control_nodeOverrun might occur, Total time : 1863.391 us (Expected < 1666.667 us) --> Read time : 118.777 us, Update time : 1432.617 us, Write time : 311.997 us[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780950884.86960244 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813652 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950892.70296001 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us[0m ×2 + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950893.30265141 seconds. ×3 + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794939775 [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 + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794997568 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278547283 [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;93m2026-06-08 20:34:54.278579065 [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;93m2026-06-08 20:34:54.373813024 [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;93m2026-06-08 20:34:54.375521826 [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;93m2026-06-08 20:34:54.375538977 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.95sINFOobjective_server_node[0;93m2026-06-08 20:34:54.654732898 [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 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668269059 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668312461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us[0m ×2 + 2.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950895.52962208 seconds ×3 + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950896.32663512 seconds. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7).[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us[0m ×2 + 4.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950892.70296001 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us[0m ×2 + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950893.30265141 seconds. ×3 + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794939775 [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 + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794997568 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278547283 [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;93m2026-06-08 20:34:54.278579065 [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;93m2026-06-08 20:34:54.373813024 [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;93m2026-06-08 20:34:54.375521826 [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;93m2026-06-08 20:34:54.375538977 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.95sINFOobjective_server_node[0;93m2026-06-08 20:34:54.654732898 [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 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668269059 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668312461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us[0m ×2 + 2.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950895.52962208 seconds ×3 + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950896.32663512 seconds. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7).[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us[0m ×2 + 4.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950892.70296001 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us[0m ×2 + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950893.30265141 seconds. ×3 + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794939775 [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 + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794997568 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278547283 [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;93m2026-06-08 20:34:54.278579065 [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;93m2026-06-08 20:34:54.373813024 [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;93m2026-06-08 20:34:54.375521826 [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;93m2026-06-08 20:34:54.375538977 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.95sINFOobjective_server_node[0;93m2026-06-08 20:34:54.654732898 [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 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668269059 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668312461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us[0m ×2 + 2.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950895.52962208 seconds ×3 + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950896.32663512 seconds. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7).[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us[0m ×2 + 4.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780950892.70296001 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 1914.922 us (Expected < 1666.667 us) --> Read time : 121.946 us, Update time : 1420.676 us, Write time : 372.300 us[0m ×2 + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.23sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550828 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780950893.30265141 seconds. ×3 + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.73sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794939775 [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 + 1.10sINFOobjective_server_node[0;93m2026-06-08 20:34:53.794997568 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 3646.747 us (Expected < 1666.667 us) --> Read time : 165.289 us, Update time : 3095.867 us, Write time : 385.591 us[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922526 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-06-08 20:34:54.278547283 [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;93m2026-06-08 20:34:54.278579065 [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;93m2026-06-08 20:34:54.373813024 [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;93m2026-06-08 20:34:54.375521826 [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;93m2026-06-08 20:34:54.375538977 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.95sINFOobjective_server_node[0;93m2026-06-08 20:34:54.654732898 [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 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668269059 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-08 20:34:54.668312461 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531762 ms (missed cycles : 5).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8095.707 us (Expected < 1666.667 us) --> Read time : 199.501 us, Update time : 59.163 us, Write time : 7837.043 us[0m ×2 + 2.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780950895.52962208 seconds ×3 + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.25sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780950896.32663512 seconds. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506664 ms (missed cycles : 7).[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 1681.580 us (Expected < 1666.667 us) --> Read time : 86.635 us, Update time : 1364.083 us, Write time : 230.862 us[0m ×2 + 4.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.76sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681990 ms (missed cycles : 4).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-08 20:34:57.683] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269559 ms (missed cycles : 4).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 1754.395 us (Expected < 1666.667 us) --> Read time : 167.479 us, Update time : 1263.808 us, Write time : 323.108 us[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 39 warnings · 2922 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×480 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×480 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×960 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×960 + 0.13sWARNcontroller_managerOverrun might occur, Total time : 3621.276 us (Expected < 1666.667 us) --> Read time : 183.740 us, Update time : 3081.916 us, Write time : 355.620 us + 0.13sWARNros2_control_nodeOverrun might occur, Total time : 3621.276 us (Expected < 1666.667 us) --> Read time : 183.740 us, Update time : 3081.916 us, Write time : 355.620 us[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.724640 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.724640 ms (missed cycles : 7).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 4519.473 us (Expected < 1666.667 us) --> Read time : 4035.687 us, Update time : 94.185 us, Write time : 389.601 us + 1.48sWARNros2_control_nodeOverrun might occur, Total time : 4519.473 us (Expected < 1666.667 us) --> Read time : 4035.687 us, Update time : 94.185 us, Write time : 389.601 us[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931880 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931880 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348166 ms (missed cycles : 2).[0m ×2 + 2.73sWARNcontroller_managerOverrun might occur, Total time : 7937.858 us (Expected < 1666.667 us) --> Read time : 1824.229 us, Update time : 5649.074 us, Write time : 464.555 us + 2.73sWARNros2_control_nodeOverrun might occur, Total time : 7937.858 us (Expected < 1666.667 us) --> Read time : 1824.229 us, Update time : 5649.074 us, Write time : 464.555 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780951002.62027454 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116753 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116753 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780951003.19653034 seconds. ×3 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 5925.130 us (Expected < 1666.667 us) --> Read time : 152.338 us, Update time : 5353.459 us, Write time : 419.333 us + 3.93sWARNros2_control_nodeOverrun might occur, Total time : 5925.130 us (Expected < 1666.667 us) --> Read time : 152.338 us, Update time : 5353.459 us, Write time : 419.333 us[0m ×2 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerSuccessfully switched controllers! + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.07sINFOros2_control_node[2026-06-08 20:36:43.360] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-08 20:36:43.360] [info] Accepted new action goal ×2 + 4.20sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view" + 4.20sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732282 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732282 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 1820.908 us (Expected < 1666.667 us) --> Read time : 163.099 us, Update time : 421.132 us, Write time : 1236.677 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 1820.908 us (Expected < 1666.667 us) --> Read time : 163.099 us, Update time : 421.132 us, Write time : 1236.677 us[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411048 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411048 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 1892.904 us (Expected < 1666.667 us) --> Read time : 1523.123 us, Update time : 51.893 us, Write time : 317.888 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 1892.904 us (Expected < 1666.667 us) --> Read time : 1523.123 us, Update time : 51.893 us, Write time : 317.888 us[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296689 ms (missed cycles : 3). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296689 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 33 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171607 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171607 ms (missed cycles : 4).[0m ×2 + 0.73sWARNcontroller_managerOverrun might occur, Total time : 1705.112 us (Expected < 1666.667 us) --> Read time : 280.765 us, Update time : 364.970 us, Write time : 1059.377 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 1705.112 us (Expected < 1666.667 us) --> Read time : 280.765 us, Update time : 364.970 us, Write time : 1059.377 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856072 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856072 ms (missed cycles : 4).[0m ×2 + 1.68sINFOobjective_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 + 1.72sINFOobjective_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 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 1.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 5448.744 us (Expected < 1666.667 us) --> Read time : 158.728 us, Update time : 4838.552 us, Write time : 451.464 us + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668581 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 5448.744 us (Expected < 1666.667 us) --> Read time : 158.728 us, Update time : 4838.552 us, Write time : 451.464 us[0m ×2 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668581 ms (missed cycles : 4).[0m ×2 + 2.71sERRORobjective_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 + 2.71sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780951015.03033757 seconds ×3 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300573 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300573 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780951015.64184380 seconds. ×3 + 3.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.78sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.78sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 2837.464 us (Expected < 1666.667 us) --> Read time : 183.490 us, Update time : 2300.605 us, Write time : 353.369 us + 3.89sWARNros2_control_nodeOverrun might occur, Total time : 2837.464 us (Expected < 1666.667 us) --> Read time : 183.490 us, Update time : 2300.605 us, Write time : 353.369 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122084 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122084 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_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 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 7 iterations (0.0046717 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 4.50sINFOros2_control_node[2026-06-08 20:36:56.826] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-06-08 20:36:56.826] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun might occur, Total time : 1873.651 us (Expected < 1666.667 us) --> Read time : 111.846 us, Update time : 1341.582 us, Write time : 420.223 us + 5.05sWARNros2_control_nodeOverrun might occur, Total time : 1873.651 us (Expected < 1666.667 us) --> Read time : 111.846 us, Update time : 1341.582 us, Write time : 420.223 us[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900860 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900860 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847590 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847590 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 30 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170428 ms (missed cycles : 2).[0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 5374.231 us (Expected < 1666.667 us) --> Read time : 150.509 us, Update time : 4823.520 us, Write time : 400.202 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 5374.231 us (Expected < 1666.667 us) --> Read time : 150.509 us, Update time : 4823.520 us, Write time : 400.202 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147416 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147416 ms (missed cycles : 2).[0m ×2 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654936 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654936 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780951044.87202358 seconds ×3 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159587 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159587 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780951045.62668419 seconds. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-06-08 20:37:25.860] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-06-08 20:37:25.861] [info] Accepted new action goal ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.62sINFOfoxglove_bridgeRemoving channel 79 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.62sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 3.62sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 79 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.62sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 5304.456 us (Expected < 1666.667 us) --> Read time : 155.318 us, Update time : 4601.458 us, Write time : 547.680 us + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 5304.456 us (Expected < 1666.667 us) --> Read time : 155.318 us, Update time : 4601.458 us, Write time : 547.680 us[0m ×2 + 3.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.35% of iterations over budget over 4:10.015 of wall time (273/77286). Below 1% is expected on a non-realtime system.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338003 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338003 ms (missed cycles : 4).[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 5319.577 us (Expected < 1666.667 us) --> Read time : 135.817 us, Update time : 4808.679 us, Write time : 375.081 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 5319.577 us (Expected < 1666.667 us) --> Read time : 135.817 us, Update time : 4808.679 us, Write time : 375.081 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759081 ms (missed cycles : 7). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759081 ms (missed cycles : 7).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866551 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 36 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483047 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-06-08 20:37:32.604] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 1855.049 us (Expected < 1666.667 us) --> Read time : 160.018 us, Update time : 1416.666 us, Write time : 278.365 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897567 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-08 20:37:34.360] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 3626.436 us (Expected < 1666.667 us) --> Read time : 103.226 us, Update time : 3045.044 us, Write time : 478.166 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092661 ms (missed cycles : 6).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1780951055.64962029 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013790 ms (missed cycles : 6).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 5395.143 us (Expected < 1666.667 us) --> Read time : 100.536 us, Update time : 4919.916 us, Write time : 374.691 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780951056.56658268 seconds. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-08 20:37:36.701] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060722 ms (missed cycles : 3).[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.38sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2937.617 us (Expected < 1666.667 us) --> Read time : 142.597 us, Update time : 35.502 us, Write time : 2759.518 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847284 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.200 us (Expected < 1666.667 us) --> Read time : 181.260 us, Update time : 1145.751 us, Write time : 347.189 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012857 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 36 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2258.972 us (Expected < 1666.667 us) --> Read time : 136.907 us, Update time : 1724.023 us, Write time : 398.042 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2258.972 us (Expected < 1666.667 us) --> Read time : 136.907 us, Update time : 1724.023 us, Write time : 398.042 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890550 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890550 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904228 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904228 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun might occur, Total time : 2222.520 us (Expected < 1666.667 us) --> Read time : 202.151 us, Update time : 1535.993 us, Write time : 484.376 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 2222.520 us (Expected < 1666.667 us) --> Read time : 202.151 us, Update time : 1535.993 us, Write time : 484.376 us[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618890 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618890 ms (missed cycles : 5).[0m ×2 + 3.09sWARNcontroller_managerOverrun might occur, Total time : 2093.473 us (Expected < 1666.667 us) --> Read time : 468.646 us, Update time : 1248.877 us, Write time : 375.950 us + 3.09sWARNros2_control_nodeOverrun might occur, Total time : 2093.473 us (Expected < 1666.667 us) --> Read time : 468.646 us, Update time : 1248.877 us, Write time : 375.950 us[0m ×2 + 3.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780951066.92685318 seconds ×3 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160197 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160197 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780951067.49582148 seconds. ×3 + 3.88sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.88sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.06sINFOros2_control_node[2026-06-08 20:37:47.726] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-06-08 20:37:47.726] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 1924.014 us (Expected < 1666.667 us) --> Read time : 128.257 us, Update time : 1555.344 us, Write time : 240.413 us + 4.23sWARNros2_control_nodeOverrun might occur, Total time : 1924.014 us (Expected < 1666.667 us) --> Read time : 128.257 us, Update time : 1555.344 us, Write time : 240.413 us[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591706 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591706 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085127 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085127 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 5804.823 us (Expected < 1666.667 us) --> Read time : 5304.426 us, Update time : 85.034 us, Write time : 415.363 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 5804.823 us (Expected < 1666.667 us) --> Read time : 5304.426 us, Update time : 85.034 us, Write time : 415.363 us[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276832 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276832 ms (missed cycles : 4).[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 7.468280 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468280 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865206 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865206 ms (missed cycles : 4).[0m ×2 + 1.41sWARNcontroller_managerOverrun might occur, Total time : 5098.974 us (Expected < 1666.667 us) --> Read time : 171.389 us, Update time : 4504.943 us, Write time : 422.642 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 5098.974 us (Expected < 1666.667 us) --> Read time : 171.389 us, Update time : 4504.943 us, Write time : 422.642 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020885 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020885 ms (missed cycles : 6).[0m ×2 + 3.05sWARNcontroller_managerOverrun might occur, Total time : 2158.166 us (Expected < 1666.667 us) --> Read time : 366.779 us, Update time : 353.440 us, Write time : 1437.947 us + 3.05sWARNros2_control_nodeOverrun might occur, Total time : 2158.166 us (Expected < 1666.667 us) --> Read time : 366.779 us, Update time : 353.440 us, Write time : 1437.947 us[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780951077.33030844 seconds ×3 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487439 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487439 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780951077.95048332 seconds. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-06-08 20:37:58.064] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-06-08 20:37:58.064] [info] Accepted new action goal ×2 + 3.91sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 3.91sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 1675.500 us (Expected < 1666.667 us) --> Read time : 700.008 us, Update time : 114.966 us, Write time : 860.526 us + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084338 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 1675.500 us (Expected < 1666.667 us) --> Read time : 700.008 us, Update time : 114.966 us, Write time : 860.526 us[0m ×2 + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084338 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.775362 ms (missed cycles : 7). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.775362 ms (missed cycles : 7).[0m ×2 + 5.21sWARNcontroller_managerOverrun might occur, Total time : 5721.459 us (Expected < 1666.667 us) --> Read time : 148.408 us, Update time : 5161.079 us, Write time : 411.972 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 5721.459 us (Expected < 1666.667 us) --> Read time : 148.408 us, Update time : 5161.079 us, Write time : 411.972 us[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.912034 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.912034 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun might occur, Total time : 3443.265 us (Expected < 1666.667 us) --> Read time : 143.797 us, Update time : 2640.743 us, Write time : 658.725 us + 6.56sWARNros2_control_nodeOverrun might occur, Total time : 3443.265 us (Expected < 1666.667 us) --> Read time : 143.797 us, Update time : 2640.743 us, Write time : 658.725 us[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4).[0m ×2 + 0.73sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.73sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 3.67sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.68sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4).[0m ×2 + 0.73sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.73sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 3.67sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.68sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4).[0m ×2 + 0.73sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.73sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 3.67sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.68sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 36 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084615 ms (missed cycles : 4).[0m ×2 + 0.73sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.73sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 3.67sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.68sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4675.862 us (Expected < 1666.667 us) --> Read time : 134.637 us, Update time : 4176.275 us, Write time : 364.950 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448646 ms (missed cycles : 5).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638886 ms (missed cycles : 5).[0m ×2 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 1770.835 us (Expected < 1666.667 us) --> Read time : 199.950 us, Update time : 1275.029 us, Write time : 295.856 us[0m ×2 + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780951088.43069482 seconds ×3 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010266 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780951088.98168492 seconds. ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sWARNcontroller_managerOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 2752.069 us (Expected < 1666.667 us) --> Read time : 114.617 us, Update time : 2279.422 us (Switch time : 2247.091 us (Switch chained mode time : 0.450 us, perform mode change time : 2.690 us, Activation time : 2239.211 us, Deactivation time : 0.480 us)), Write time : 358.030 us[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780951089.09182000 seconds ×3 + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.95sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 5486.736 us (Expected < 1666.667 us) --> Read time : 161.539 us, Update time : 4847.491 us, Write time : 477.706 us[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780951089.65439081 seconds. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769600 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780951089.68642545 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780951090.36195874 seconds. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.19sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-06-08 20:38:10.467] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946482 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us + 5.13sWARNros2_control_nodeOverrun might occur, Total time : 2079.572 us (Expected < 1666.667 us) --> Read time : 202.121 us, Update time : 1434.797 us, Write time : 442.654 us[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143275 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819691 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819691 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1960.206 us (Expected < 1666.667 us) --> Read time : 124.506 us, Update time : 1536.603 us, Write time : 299.097 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1960.206 us (Expected < 1666.667 us) --> Read time : 124.506 us, Update time : 1536.603 us, Write time : 299.097 us[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 39 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3621.125 us (Expected < 1666.667 us) --> Read time : 132.677 us, Update time : 3192.852 us, Write time : 295.596 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794480 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3621.125 us (Expected < 1666.667 us) --> Read time : 132.677 us, Update time : 3192.852 us, Write time : 295.596 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794480 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2).[0m ×2 + 2.84sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Got request to cancel active goal. ×2 + 2.84sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Canceling active goal... ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951100.83629012 seconds ×3 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.92sWARNcontroller_managerOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us + 2.92sWARNros2_control_nodeOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951101.39596653 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951101.75611377 seconds ×3 + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951102.29915977 seconds. ×3 + 4.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.31sINFOobjective_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 + 4.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951102.30066419 seconds ×3 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.36sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 4.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.36sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951102.84441590 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951102.84490728 seconds ×3 + 4.86sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 4.86sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951103.55279565 seconds. ×3 + 6.07sWARNcontroller_managerOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 39 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3621.125 us (Expected < 1666.667 us) --> Read time : 132.677 us, Update time : 3192.852 us, Write time : 295.596 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794480 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3621.125 us (Expected < 1666.667 us) --> Read time : 132.677 us, Update time : 3192.852 us, Write time : 295.596 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794480 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419725 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 1669.181 us (Expected < 1666.667 us) --> Read time : 103.086 us, Update time : 112.717 us, Write time : 1453.378 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385093 ms (missed cycles : 2).[0m ×2 + 2.84sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Got request to cancel active goal. ×2 + 2.84sINFOros2_control_node[2026-06-08 20:38:20.832] [info] Canceling active goal... ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780951100.83629012 seconds ×3 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.92sWARNcontroller_managerOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us + 2.92sWARNros2_control_nodeOverrun might occur, Total time : 3269.617 us (Expected < 1666.667 us) --> Read time : 2637.442 us, Update time : 57.414 us, Write time : 574.761 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990143 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780951101.39596653 seconds. ×3 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780951101.75611377 seconds ×3 + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071699 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780951102.29915977 seconds. ×3 + 4.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.31sINFOobjective_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 + 4.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780951102.30066419 seconds ×3 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 1927.224 us (Expected < 1666.667 us) --> Read time : 185.310 us, Update time : 1493.960 us, Write time : 247.954 us[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.36sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 4.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.36sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780951102.84441590 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780951102.84490728 seconds ×3 + 4.86sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 4.86sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798595 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780951103.55279565 seconds. ×3 + 6.07sWARNcontroller_managerOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 5039.081 us (Expected < 1666.667 us) --> Read time : 142.457 us, Update time : 4470.701 us, Write time : 425.923 us[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974218 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.6s | 58 warnings · 659 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/2026-06-08-20-33-12-022174-ed313923294c-9738 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.04sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.06sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.06sINFOcontroller_managerupdate rate is 600 Hz + 1.06sINFOcontroller_managerOverruns handling is : enabled + 1.06sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.06sWARNcontroller_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. + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950222 ms (missed cycles : 2). + 1.18sINFOros2_control_node-1process started with pid [9785] ×2 + 1.18sINFOmove_group-9process started with pid [9811] ×2 + 1.18sINFOparameter_manager_node-10process started with pid [9812] ×2 + 1.18sINFOwaypoint_manager_node-11process started with pid [9813] ×2 + 1.18sINFOmove_joint_resampler_node-12process started with pid [9814] ×2 + 1.18sINFOmove_end_effector_resampler_node-13process started with pid [9815] ×2 + 1.18sINFOobjective_server_node_main-14process started with pid [9816] ×2 + 1.18sINFOcomponent_container_mt-15process started with pid [9817] ×2 + 1.18sINFOexecute_objective_bridge-16process started with pid [9818] ×2 + 1.18sINFOui_teleop_bridge-17process started with pid [9819] ×2 + 1.18sINFOfoxglove_bridge-18process started with pid [9820] ×2 + 1.18sINFOtf2_web_republisher_node-19process started with pid [9821] ×2 + 1.18sINFOweb_video_server-20process started with pid [9940] ×2 + 1.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9786] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9787] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9788] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9789] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9793] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9795] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9796] ×2 + 1.20sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.20sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.20sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.20sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.20sWARNros2_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 + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950222 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerReceived robot description from topic. + 1.22sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.22sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.23sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.24sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.37sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.37sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.37sINFOfoxglove_bridgeServer listening on port 3201 + 1.37sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 1.39sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 1.39sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 1.40sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 1.40sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 1.41sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 1.42sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 1.42sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 1.42sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 1.42sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 1.42sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 1.42sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 1.42sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 1.42sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 1.89sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 1.89sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 1.89sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/joint_states" + 1.90sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/joint_states"[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130080 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130080 ms (missed cycles : 3).[0m ×2 + 2.16sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.32sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.32sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.45sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.51sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.51sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.51sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.53sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world" + 2.53sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world"[0m ×2 + 2.54sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" + 2.54sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.54sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m ×2 + 2.54sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.54sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.55sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.55sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.55sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.55sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.55sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.28sINFOobjective_server_node[2026-06-08 20:33:15.890] [moveit_pro_license] [info] ×2 + 3.28sINFOobjective_server_node************************************************* ×4 + 3.28sINFOobjective_server_node* MoveIt Pro License ×2 + 3.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.50sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.50sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.50sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.50sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.50sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.50sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.50sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.50sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.50sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.50sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.50sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 3.64sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info" + 3.64sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/depth" + 3.64sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/depth" + 3.64sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/color" + 3.64sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info"[0m ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/depth"[0m ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/depth"[0m ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/color"[0m ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/points" + 3.64sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/points"[0m ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description" + 3.64sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description"[0m ×2 + 3.65sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/statistics" + 3.65sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/statistics"[0m ×2 + 3.65sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/failure_reason_collector" + 3.65sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/points" + 3.65sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info" + 3.65sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/failure_reason_collector"[0m ×2 + 3.65sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/points"[0m ×2 + 3.65sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info"[0m ×2 + 3.70sINFOobjective_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 + 3.70sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.71sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.71sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 3.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 3.71sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.71sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.71sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.71sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.71sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.71sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.71sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.71sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.72sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 3.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 3.73sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.73sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.73sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 4238.528 us (Expected < 1666.667 us) --> Read time : 127.707 us, Update time : 3792.604 us (Switch time : 3780.513 us (Switch chained mode time : 1.320 us, perform mode change time : 5.000 us, Activation time : 3766.523 us, Deactivation time : 1.300 us)), Write time : 318.217 us + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385440 ms (missed cycles : 3). + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.74sWARNros2_control_nodeOverrun might occur, Total time : 4238.528 us (Expected < 1666.667 us) --> Read time : 127.707 us, Update time : 3792.604 us (Switch time : 3780.513 us (Switch chained mode time : 1.320 us, perform mode change time : 5.000 us, Activation time : 3766.523 us, Deactivation time : 1.300 us)), Write time : 318.217 us[0m ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385440 ms (missed cycles : 3).[0m ×2 + 3.74sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 3.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 4.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 4.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9787] ×2 + 4.09sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 4.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 4.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 4.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 4.28sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/transient_monitored_planning_scene_without_octomap" + 4.28sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 4.29sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event" + 4.29sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 4.29sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/visual_markers" + 4.30sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/visual_markers"[0m ×2 + 4.30sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/speed_scaling_input" + 4.30sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 4.30sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/controller_state" + 4.30sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/transition_event" + 4.30sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 4.30sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 4.30sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory" + 4.30sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/blackboard_contents" + 4.30sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 4.30sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/blackboard_contents"[0m ×2 + 4.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/behavior_tree_status" + 4.30sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/behavior_tree_status"[0m ×2 + 4.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 4.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 4.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9789] ×2 + 4.45sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 4.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 4.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.46sINFOforce_torque_sensor_broadcasterconfigure successful + 4.46sINFOros2_control_nodeconfigure successful[0m ×2 + 4.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.46sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.47sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 4.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 4.49sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.52sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.52sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 4.57sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 4.58sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 4.58sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 4.58sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 4.58sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 4.58sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 4.61sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 4.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 4.69sINFOmove_group ×4 + 4.69sINFOmove_group[92mYou can start planning now![0m ×2 + 4.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9786] ×2 + 4.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 4.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 4.87sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event" + 4.87sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event" + 4.87sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event"[0m ×2 + 4.87sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event"[0m ×2 + 4.87sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench" + 4.87sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event" + 4.87sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 4.87sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 4.87sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 4.87sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 4.89sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 4.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 4.90sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.93sINFOros2_control_node[2026-06-08 20:33:17.537] [info] Controller state will be published at 10 Hz. ×2 + 4.93sINFOros2_control_node[2026-06-08 20:33:17.538] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.23sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.23sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.23sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.23sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9795] ×2 + 5.29sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 5.29sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 5.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.33sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.33sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.35sINFOros2_control_node[2026-06-08 20:33:17.963] [info] Controller state will be published at 20 Hz. ×2 + 5.35sINFOros2_control_node[2026-06-08 20:33:17.964] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 5.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 5.47sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state" + 5.47sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state"[0m ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command" + 5.47sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command"[0m ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state" + 5.47sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command" + 5.47sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event" + 5.47sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 5.48sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command"[0m ×2 + 5.48sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 5.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9796] ×2 + 5.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.75sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 5.75sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 5.79sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 5.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 5.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.79sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.79sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.81sINFOros2_control_node[2026-06-08 20:33:18.422] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.81sINFOros2_control_node[2026-06-08 20:33:18.422] [info] Controller state will be published at 50 Hz. ×2 + 5.81sINFOros2_control_node[2026-06-08 20:33:18.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4).[0m ×2 + 6.00sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event" + 6.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state" + 6.00sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 6.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950798.62109089 seconds. ×3 + 6.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950798.63128591 seconds ×3 + 6.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9793] ×2 + 6.16sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 6.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.42sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.42sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 6.42sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 6.44sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 6.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 6.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.44sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 6.44sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 6.44sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 6.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.44sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 6.44sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 6.44sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 6.44sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.45sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 6.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 6.50sWARNcontroller_managerOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us + 6.50sWARNros2_control_nodeOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us[0m ×2 + 6.54sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event" + 6.54sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 6.54sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states" + 6.54sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states"[0m ×2 + 6.54sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 6.54sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 6.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950799.17820263 seconds. ×3 + 6.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9788] ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 7.06sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 7.06sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 7.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 7.69sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 7.69sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 8.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 8.76sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 8.76sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 9.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 9.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 9.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 9.82sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 9.82sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 45 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 0.09sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.09sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.79sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.79sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.18sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 5.17sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 6.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 6.59sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 7.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.37sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.38sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 7.38sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 54 warnings · 158 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.02sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.03sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.08sWARNcontroller_managerOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us + 0.08sWARNros2_control_nodeOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us[0m ×2 + 0.12sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event" + 0.12sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 0.12sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states" + 0.12sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states"[0m ×2 + 0.12sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.12sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950799.17820263 seconds. ×3 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9788] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 0.64sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.64sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 4.63sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.73sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.44sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 7.11sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 7.15sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 223 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/2026-06-08-20-33-12-022174-ed313923294c-9738 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.04sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.06sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.06sINFOcontroller_managerupdate rate is 600 Hz + 1.06sINFOcontroller_managerOverruns handling is : enabled + 1.06sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.06sWARNcontroller_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. + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950222 ms (missed cycles : 2). + 1.18sINFOros2_control_node-1process started with pid [9785] ×2 + 1.18sINFOmove_group-9process started with pid [9811] ×2 + 1.18sINFOparameter_manager_node-10process started with pid [9812] ×2 + 1.18sINFOwaypoint_manager_node-11process started with pid [9813] ×2 + 1.18sINFOmove_joint_resampler_node-12process started with pid [9814] ×2 + 1.18sINFOmove_end_effector_resampler_node-13process started with pid [9815] ×2 + 1.18sINFOobjective_server_node_main-14process started with pid [9816] ×2 + 1.18sINFOcomponent_container_mt-15process started with pid [9817] ×2 + 1.18sINFOexecute_objective_bridge-16process started with pid [9818] ×2 + 1.18sINFOui_teleop_bridge-17process started with pid [9819] ×2 + 1.18sINFOfoxglove_bridge-18process started with pid [9820] ×2 + 1.18sINFOtf2_web_republisher_node-19process started with pid [9821] ×2 + 1.18sINFOweb_video_server-20process started with pid [9940] ×2 + 1.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9786] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9787] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9788] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9789] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9793] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9795] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9796] ×2 + 1.20sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.20sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.20sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.20sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.20sWARNros2_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 + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950222 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerReceived robot description from topic. + 1.22sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.22sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.23sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.24sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.37sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.37sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.37sINFOfoxglove_bridgeServer listening on port 3201 + 1.37sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 1.39sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 1.39sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 1.40sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 1.40sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 1.41sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 1.42sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 1.42sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 1.42sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 1.42sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 1.42sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 1.42sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 1.42sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 1.42sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.57sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 1.89sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 1.89sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 1.89sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/joint_states" + 1.90sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/joint_states"[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130080 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130080 ms (missed cycles : 3).[0m ×2 + 2.16sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.32sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.32sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.45sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.51sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.51sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.51sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.53sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world" + 2.53sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world"[0m ×2 + 2.54sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" + 2.54sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.54sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m ×2 + 2.54sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.54sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.55sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.55sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.55sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.55sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.55sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.28sINFOobjective_server_node[2026-06-08 20:33:15.890] [moveit_pro_license] [info] ×2 + 3.28sINFOobjective_server_node************************************************* ×4 + 3.28sINFOobjective_server_node* MoveIt Pro License ×2 + 3.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 45 warnings · 265 info |
+ 0.00sINFOmove_group ×4 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9786] ×2 + 0.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench" + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.21sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.24sINFOros2_control_node[2026-06-08 20:33:17.537] [info] Controller state will be published at 10 Hz. ×2 + 0.24sINFOros2_control_node[2026-06-08 20:33:17.538] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9795] ×2 + 0.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.64sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.67sINFOros2_control_node[2026-06-08 20:33:17.963] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-06-08 20:33:17.964] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.78sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state" + 0.79sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command" + 0.79sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state" + 0.79sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command" + 0.79sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9796] ×2 + 1.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.10sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.10sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.10sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.12sINFOros2_control_node[2026-06-08 20:33:18.422] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.12sINFOros2_control_node[2026-06-08 20:33:18.422] [info] Controller state will be published at 50 Hz. ×2 + 1.13sINFOros2_control_node[2026-06-08 20:33:18.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950798.62109089 seconds. ×3 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950798.63128591 seconds ×3 + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9793] ×2 + 1.48sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.75sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.75sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.76sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.76sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us[0m ×2 + 1.85sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event" + 1.85sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.85sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states" + 1.85sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states"[0m ×2 + 1.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950799.17820263 seconds. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9788] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.38sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 4.08sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 5.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.46sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 45 warnings · 265 info |
+ 0.00sINFOmove_group ×4 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9786] ×2 + 0.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench" + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.21sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.24sINFOros2_control_node[2026-06-08 20:33:17.537] [info] Controller state will be published at 10 Hz. ×2 + 0.24sINFOros2_control_node[2026-06-08 20:33:17.538] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9795] ×2 + 0.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.64sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.67sINFOros2_control_node[2026-06-08 20:33:17.963] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-06-08 20:33:17.964] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.78sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state" + 0.79sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command" + 0.79sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state" + 0.79sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command" + 0.79sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9796] ×2 + 1.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.10sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.10sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.10sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.12sINFOros2_control_node[2026-06-08 20:33:18.422] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.12sINFOros2_control_node[2026-06-08 20:33:18.422] [info] Controller state will be published at 50 Hz. ×2 + 1.13sINFOros2_control_node[2026-06-08 20:33:18.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950798.62109089 seconds. ×3 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950798.63128591 seconds ×3 + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9793] ×2 + 1.48sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.75sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.75sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.76sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.76sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us[0m ×2 + 1.85sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event" + 1.85sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.85sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states" + 1.85sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states"[0m ×2 + 1.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950799.17820263 seconds. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9788] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.38sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 4.08sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 5.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.46sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 45 warnings · 265 info |
+ 0.00sINFOmove_group ×4 + 0.00sINFOmove_group[92mYou can start planning now![0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9786] ×2 + 0.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench" + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.21sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.24sINFOros2_control_node[2026-06-08 20:33:17.537] [info] Controller state will be published at 10 Hz. ×2 + 0.24sINFOros2_control_node[2026-06-08 20:33:17.538] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9795] ×2 + 0.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.64sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.67sINFOros2_control_node[2026-06-08 20:33:17.963] [info] Controller state will be published at 20 Hz. ×2 + 0.67sINFOros2_control_node[2026-06-08 20:33:17.964] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.78sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state" + 0.79sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command" + 0.79sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/velocity_force_controller/command"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state" + 0.79sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command" + 0.79sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event" + 0.79sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/command"[0m ×2 + 0.79sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9796] ×2 + 1.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.10sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.10sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.10sINFOros2_control_node[2026-06-08 20:33:18.401] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.12sINFOros2_control_node[2026-06-08 20:33:18.422] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.12sINFOros2_control_node[2026-06-08 20:33:18.422] [info] Controller state will be published at 50 Hz. ×2 + 1.13sINFOros2_control_node[2026-06-08 20:33:18.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518250 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.32sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.32sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780950798.62109089 seconds. ×3 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780950798.63128591 seconds ×3 + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9793] ×2 + 1.48sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 1.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 1.75sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.75sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.75sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.76sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.76sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us[0m ×2 + 1.85sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event" + 1.85sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.85sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states" + 1.85sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states"[0m ×2 + 1.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.86sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950799.17820263 seconds. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9788] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 2.38sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.38sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 4.08sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 5.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.46sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 51 warnings · 156 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_z9k865_m --params-file /tmp/launch_params_n6jzlu28 --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_nzua9kdz --params-file /tmp/launch_params_c4n4w4vb [0m ×2 + 0.02sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.03sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.08sWARNcontroller_managerOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us + 0.08sWARNros2_control_nodeOverrun might occur, Total time : 3034.393 us (Expected < 1666.667 us) --> Read time : 110.006 us, Update time : 2553.857 us, Write time : 370.530 us[0m ×2 + 0.12sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event" + 0.12sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 0.12sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states" + 0.12sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/dynamic_joint_states"[0m ×2 + 0.12sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.12sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780950799.17820263 seconds. ×3 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9788] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 0.64sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.64sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 1.27sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 4.63sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.73sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.44sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005779 ms (missed cycles : 2).[0m ×2 + 0.09sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.09sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.79sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.79sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 4.08sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.18sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.77sINFOobjective_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 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 5.17sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 6.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 6.59sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 45 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 + 7.00sWARNcontroller_managerOverrun might occur, Total time : 3557.551 us (Expected < 1666.667 us) --> Read time : 106.175 us, Update time : 3068.586 us, Write time : 382.790 us + 7.00sWARNros2_control_nodeOverrun might occur, Total time : 3557.551 us (Expected < 1666.667 us) --> Read time : 106.175 us, Update time : 3068.586 us, Write time : 382.790 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780950800.24947119 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3908.971 us (Expected < 1666.667 us) --> Read time : 145.728 us, Update time : 3282.687 us, Write time : 480.556 us[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752883 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780950800.83621693 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2193.799 us (Expected < 1666.667 us) --> Read time : 120.927 us, Update time : 1741.074 us, Write time : 331.798 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289888 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780950801.84639120 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780950802.39465928 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780950802.41478324 seconds ×3 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 1826.499 us (Expected < 1666.667 us) --> Read time : 166.919 us, Update time : 1296.490 us, Write time : 363.090 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932557 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780950802.95868683 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780950803.10932755 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699922 ms (missed cycles : 4).[0m ×2 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1810.528 us (Expected < 1666.667 us) --> Read time : 129.427 us, Update time : 1413.536 us, Write time : 267.565 us[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780950803.72108459 seconds. ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sWARNcontroller_managerOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 4920.565 us (Expected < 1666.667 us) --> Read time : 174.319 us, Update time : 4183.616 us (Switch time : 4147.083 us (Switch chained mode time : 0.540 us, perform mode change time : 3.840 us, Activation time : 4134.573 us, Deactivation time : 0.490 us)), Write time : 562.630 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780950803.77122450 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780950804.34740400 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.3701e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-08 20:33:24.474] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277397 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 6575.094 us (Expected < 1666.667 us) --> Read time : 76.284 us, Update time : 5992.063 us, Write time : 506.747 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518484 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.16% of iterations over budget over 0:10.000 of wall time (5/3175). Below 1% is expected on a non-realtime system.[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us + 5.94sWARNros2_control_nodeOverrun might occur, Total time : 3486.328 us (Expected < 1666.667 us) --> Read time : 133.618 us, Update time : 3051.844 us, Write time : 300.866 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468788 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-06-08 20:33:26.961] [info] Accepted new action goal ×2 | ||||