67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.4s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 71.8s | 3 errors · 321 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578566 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578566 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741420 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741420 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 2452.344 us (Expected < 1666.667 us) --> Read time : 105.783 us, Update time : 2124.195 us, Write time : 222.366 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 2452.344 us (Expected < 1666.667 us) --> Read time : 105.783 us, Update time : 2124.195 us, Write time : 222.366 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251581 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251581 ms (missed cycles : 2).[0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 2260.869 us (Expected < 1666.667 us) --> Read time : 1945.461 us, Update time : 109.923 us, Write time : 205.485 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 2260.869 us (Expected < 1666.667 us) --> Read time : 1945.461 us, Update time : 109.923 us, Write time : 205.485 us[0m ×2 + 2.91sINFOjoint_trajectory_controllerGot request to cancel goal + 2.91sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.91sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.91sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781100431.59942698 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621131 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621131 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781100432.13550735 seconds. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 115.303 us, Update time : 1646.243 us, Write time : 179.324 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 115.303 us, Update time : 1646.243 us, Write time : 179.324 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824748 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824748 ms (missed cycles : 5).[0m ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 4.77sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.77sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.77sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842607 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842607 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735844 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735844 ms (missed cycles : 5).[0m ×2 + 6.79sWARNcontroller_managerOverrun might occur, Total time : 1874.489 us (Expected < 1666.667 us) --> Read time : 123.333 us, Update time : 1538.371 us, Write time : 212.785 us + 6.79sWARNros2_control_nodeOverrun might occur, Total time : 1874.489 us (Expected < 1666.667 us) --> Read time : 123.333 us, Update time : 1538.371 us, Write time : 212.785 us[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065543 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065543 ms (missed cycles : 4).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444828 ms (missed cycles : 5). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444828 ms (missed cycles : 5).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730501 ms (missed cycles : 5). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730501 ms (missed cycles : 5).[0m ×2 + 9.99sWARNcontroller_managerOverrun might occur, Total time : 1878.828 us (Expected < 1666.667 us) --> Read time : 211.315 us, Update time : 123.653 us, Write time : 1543.860 us + 9.99sWARNros2_control_nodeOverrun might occur, Total time : 1878.828 us (Expected < 1666.667 us) --> Read time : 211.315 us, Update time : 123.653 us, Write time : 1543.860 us[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791756 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791756 ms (missed cycles : 3).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323348 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323348 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun might occur, Total time : 2756.772 us (Expected < 1666.667 us) --> Read time : 127.873 us, Update time : 2359.992 us, Write time : 268.907 us + 11.91sWARNros2_control_nodeOverrun might occur, Total time : 2756.772 us (Expected < 1666.667 us) --> Read time : 127.873 us, Update time : 2359.992 us, Write time : 268.907 us[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180319 ms (missed cycles : 5). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180319 ms (missed cycles : 5).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132570 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132570 ms (missed cycles : 2).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381607 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381607 ms (missed cycles : 4).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414267 ms (missed cycles : 5). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414267 ms (missed cycles : 5).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888386 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888386 ms (missed cycles : 2).[0m ×2 + 17.42sWARNcontroller_managerOverrun might occur, Total time : 4145.288 us (Expected < 1666.667 us) --> Read time : 132.183 us, Update time : 1837.318 us, Write time : 2175.787 us + 17.42sWARNros2_control_nodeOverrun might occur, Total time : 4145.288 us (Expected < 1666.667 us) --> Read time : 132.183 us, Update time : 1837.318 us, Write time : 2175.787 us[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205531 ms (missed cycles : 5). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205531 ms (missed cycles : 5).[0m ×2 + 19.10sWARNcontroller_managerOverrun might occur, Total time : 3554.862 us (Expected < 1666.667 us) --> Read time : 115.293 us, Update time : 3176.513 us, Write time : 263.056 us + 19.10sWARNros2_control_nodeOverrun might occur, Total time : 3554.862 us (Expected < 1666.667 us) --> Read time : 115.293 us, Update time : 3176.513 us, Write time : 263.056 us[0m ×2 + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635989 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635989 ms (missed cycles : 3).[0m ×2 + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292673 ms (missed cycles : 2). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292673 ms (missed cycles : 2).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471995 ms (missed cycles : 4). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471995 ms (missed cycles : 4).[0m ×2 + 21.95sWARNcontroller_managerOverrun might occur, Total time : 5055.101 us (Expected < 1666.667 us) --> Read time : 4639.360 us, Update time : 135.994 us, Write time : 279.747 us + 21.95sWARNros2_control_nodeOverrun might occur, Total time : 5055.101 us (Expected < 1666.667 us) --> Read time : 4639.360 us, Update time : 135.994 us, Write time : 279.747 us[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634067 ms (missed cycles : 3). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634067 ms (missed cycles : 3).[0m ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131068 ms (missed cycles : 4). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131068 ms (missed cycles : 4).[0m ×2 + 24.01sWARNcontroller_managerOverrun might occur, Total time : 3505.861 us (Expected < 1666.667 us) --> Read time : 99.702 us, Update time : 3148.312 us, Write time : 257.847 us + 24.01sWARNros2_control_nodeOverrun might occur, Total time : 3505.861 us (Expected < 1666.667 us) --> Read time : 99.702 us, Update time : 3148.312 us, Write time : 257.847 us[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964539 ms (missed cycles : 4). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964539 ms (missed cycles : 4).[0m ×2 + 25.48sWARNcontroller_managerOverrun might occur, Total time : 1679.393 us (Expected < 1666.667 us) --> Read time : 98.462 us, Update time : 1355.265 us, Write time : 225.666 us + 25.48sWARNros2_control_nodeOverrun might occur, Total time : 1679.393 us (Expected < 1666.667 us) --> Read time : 98.462 us, Update time : 1355.265 us, Write time : 225.666 us[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045462 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045462 ms (missed cycles : 3).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817777 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817777 ms (missed cycles : 2).[0m ×2 + 26.96sWARNcontroller_managerOverrun might occur, Total time : 2136.045 us (Expected < 1666.667 us) --> Read time : 116.293 us, Update time : 1832.898 us, Write time : 186.854 us + 26.96sWARNros2_control_nodeOverrun might occur, Total time : 2136.045 us (Expected < 1666.667 us) --> Read time : 116.293 us, Update time : 1832.898 us, Write time : 186.854 us[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450312 ms (missed cycles : 4). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450312 ms (missed cycles : 4).[0m ×2 + 28.22sWARNcontroller_managerOverrun might occur, Total time : 2110.413 us (Expected < 1666.667 us) --> Read time : 183.424 us, Update time : 1617.341 us, Write time : 309.648 us + 28.22sWARNros2_control_nodeOverrun might occur, Total time : 2110.413 us (Expected < 1666.667 us) --> Read time : 183.424 us, Update time : 1617.341 us, Write time : 309.648 us[0m ×2 + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864039 ms (missed cycles : 2). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864039 ms (missed cycles : 2).[0m ×2 + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681656 ms (missed cycles : 3). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681656 ms (missed cycles : 3).[0m ×2 + 30.68sWARNcontroller_managerOverrun might occur, Total time : 2362.691 us (Expected < 1666.667 us) --> Read time : 75.982 us, Update time : 75.542 us, Write time : 2211.167 us + 30.68sWARNros2_control_nodeOverrun might occur, Total time : 2362.691 us (Expected < 1666.667 us) --> Read time : 75.982 us, Update time : 75.542 us, Write time : 2211.167 us[0m ×2 + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274488 ms (missed cycles : 2). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274488 ms (missed cycles : 2).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906009 ms (missed cycles : 3). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906009 ms (missed cycles : 3).[0m ×2 + 32.06sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.06sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.22sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113690 ms (missed cycles : 5). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113690 ms (missed cycles : 5).[0m ×2 + 32.87sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190491 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190491 ms (missed cycles : 2).[0m ×2 + 34.78sWARNcontroller_managerOverrun might occur, Total time : 3448.040 us (Expected < 1666.667 us) --> Read time : 101.983 us, Update time : 3049.859 us, Write time : 296.198 us + 34.78sWARNros2_control_nodeOverrun might occur, Total time : 3448.040 us (Expected < 1666.667 us) --> Read time : 101.983 us, Update time : 3049.859 us, Write time : 296.198 us[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726073 ms (missed cycles : 3). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726073 ms (missed cycles : 3).[0m ×2 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184665 ms (missed cycles : 4). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184665 ms (missed cycles : 4).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824018 ms (missed cycles : 2). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824018 ms (missed cycles : 2).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848413 ms (missed cycles : 5). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848413 ms (missed cycles : 5).[0m ×2 + 39.02sWARNcontroller_managerOverrun might occur, Total time : 1773.496 us (Expected < 1666.667 us) --> Read time : 163.504 us, Update time : 1310.125 us, Write time : 299.867 us + 39.02sWARNros2_control_nodeOverrun might occur, Total time : 1773.496 us (Expected < 1666.667 us) --> Read time : 163.504 us, Update time : 1310.125 us, Write time : 299.867 us[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811625 ms (missed cycles : 3). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811625 ms (missed cycles : 3).[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298717 ms (missed cycles : 2). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298717 ms (missed cycles : 2).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866884 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866884 ms (missed cycles : 2).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265909 ms (missed cycles : 2). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265909 ms (missed cycles : 2).[0m ×2 + 42.54sWARNcontroller_managerOverrun might occur, Total time : 2600.147 us (Expected < 1666.667 us) --> Read time : 212.465 us, Update time : 2124.185 us, Write time : 263.497 us + 42.54sWARNros2_control_nodeOverrun might occur, Total time : 2600.147 us (Expected < 1666.667 us) --> Read time : 212.465 us, Update time : 2124.185 us, Write time : 263.497 us[0m ×2 + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819918 ms (missed cycles : 3). + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819918 ms (missed cycles : 3).[0m ×2 + 43.86sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.30sWARNcontroller_managerOverrun might occur, Total time : 2445.304 us (Expected < 1666.667 us) --> Read time : 101.033 us, Update time : 2131.525 us, Write time : 212.746 us + 44.30sWARNros2_control_nodeOverrun might occur, Total time : 2445.304 us (Expected < 1666.667 us) --> Read time : 101.033 us, Update time : 2131.525 us, Write time : 212.746 us[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693827 ms (missed cycles : 4). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693827 ms (missed cycles : 4).[0m ×2 + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639175 ms (missed cycles : 3). + 45.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639175 ms (missed cycles : 3).[0m ×2 + 46.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138353 ms (missed cycles : 5). + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138353 ms (missed cycles : 5).[0m ×2 + 46.95sWARNcontroller_managerOverrun might occur, Total time : 1774.076 us (Expected < 1666.667 us) --> Read time : 88.962 us, Update time : 1408.837 us, Write time : 276.277 us + 46.95sWARNros2_control_nodeOverrun might occur, Total time : 1774.076 us (Expected < 1666.667 us) --> Read time : 88.962 us, Update time : 1408.837 us, Write time : 276.277 us[0m ×2 + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778800 ms (missed cycles : 3). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778800 ms (missed cycles : 3).[0m ×2 + 48.28sWARNcontroller_managerOverrun might occur, Total time : 4059.195 us (Expected < 1666.667 us) --> Read time : 163.124 us, Update time : 3549.122 us, Write time : 346.949 us + 48.28sWARNros2_control_nodeOverrun might occur, Total time : 4059.195 us (Expected < 1666.667 us) --> Read time : 163.124 us, Update time : 3549.122 us, Write time : 346.949 us[0m ×2 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739139 ms (missed cycles : 2). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739139 ms (missed cycles : 2).[0m ×2 + 49.37sWARNcontroller_managerOverrun might occur, Total time : 4209.780 us (Expected < 1666.667 us) --> Read time : 137.574 us, Update time : 3813.439 us, Write time : 258.767 us + 49.37sWARNros2_control_nodeOverrun might occur, Total time : 4209.780 us (Expected < 1666.667 us) --> Read time : 137.574 us, Update time : 3813.439 us, Write time : 258.767 us[0m ×2 + 49.42sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784328 ms (missed cycles : 5). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784328 ms (missed cycles : 5).[0m ×2 + 50.61sWARNcontroller_managerOverrun might occur, Total time : 1764.726 us (Expected < 1666.667 us) --> Read time : 123.263 us, Update time : 1388.626 us, Write time : 252.837 us + 50.61sWARNros2_control_nodeOverrun might occur, Total time : 1764.726 us (Expected < 1666.667 us) --> Read time : 123.263 us, Update time : 1388.626 us, Write time : 252.837 us[0m ×2 + 50.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358211 ms (missed cycles : 2). + 50.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358211 ms (missed cycles : 2).[0m ×2 + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152509 ms (missed cycles : 7). + 51.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.152509 ms (missed cycles : 7).[0m ×2 + 52.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490028 ms (missed cycles : 2). + 52.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490028 ms (missed cycles : 2).[0m ×2 + 53.35sWARNcontroller_managerOverrun might occur, Total time : 1679.703 us (Expected < 1666.667 us) --> Read time : 123.823 us, Update time : 1340.765 us, Write time : 215.115 us + 53.35sWARNros2_control_nodeOverrun might occur, Total time : 1679.703 us (Expected < 1666.667 us) --> Read time : 123.823 us, Update time : 1340.765 us, Write time : 215.115 us[0m ×2 + 53.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.180954 ms (missed cycles : 7). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.180954 ms (missed cycles : 7).[0m ×2 + 54.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317897 ms (missed cycles : 4). + 54.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317897 ms (missed cycles : 4).[0m ×2 + 55.44sWARNcontroller_managerOverrun might occur, Total time : 1674.003 us (Expected < 1666.667 us) --> Read time : 97.732 us, Update time : 74.742 us, Write time : 1501.529 us + 55.44sWARNros2_control_nodeOverrun might occur, Total time : 1674.003 us (Expected < 1666.667 us) --> Read time : 97.732 us, Update time : 74.742 us, Write time : 1501.529 us[0m ×2 + 55.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473935 ms (missed cycles : 4). + 55.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473935 ms (missed cycles : 4).[0m ×2 + 56.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662845 ms (missed cycles : 2). + 56.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662845 ms (missed cycles : 2).[0m ×2 + 57.97sWARNcontroller_managerOverrun might occur, Total time : 3124.441 us (Expected < 1666.667 us) --> Read time : 112.973 us, Update time : 2720.181 us, Write time : 291.287 us + 57.97sWARNros2_control_nodeOverrun might occur, Total time : 3124.441 us (Expected < 1666.667 us) --> Read time : 112.973 us, Update time : 2720.181 us, Write time : 291.287 us[0m ×2 + 58.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179928 ms (missed cycles : 2). + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179928 ms (missed cycles : 2).[0m ×2 + 59.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840597 ms (missed cycles : 3). + 59.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840597 ms (missed cycles : 3).[0m ×2 + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188153 ms (missed cycles : 2). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188153 ms (missed cycles : 2).[0m ×2 + 61.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105118 ms (missed cycles : 2). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105118 ms (missed cycles : 2).[0m ×2 + 61.62sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 62.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.463960 ms (missed cycles : 6). + 62.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.463960 ms (missed cycles : 6).[0m ×2 + 62.75sWARNcontroller_managerOverrun might occur, Total time : 2029.633 us (Expected < 1666.667 us) --> Read time : 149.224 us, Update time : 229.496 us, Write time : 1650.913 us + 62.76sWARNros2_control_nodeOverrun might occur, Total time : 2029.633 us (Expected < 1666.667 us) --> Read time : 149.224 us, Update time : 229.496 us, Write time : 1650.913 us[0m ×2 + 63.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688590 ms (missed cycles : 4). + 63.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688590 ms (missed cycles : 4).[0m ×2 + 64.03sWARNcontroller_managerOverrun might occur, Total time : 4052.955 us (Expected < 1666.667 us) --> Read time : 87.452 us, Update time : 3700.186 us, Write time : 265.317 us + 64.03sWARNros2_control_nodeOverrun might occur, Total time : 4052.955 us (Expected < 1666.667 us) --> Read time : 87.452 us, Update time : 3700.186 us, Write time : 265.317 us[0m ×2 + 64.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544953 ms (missed cycles : 5). + 64.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544953 ms (missed cycles : 5).[0m ×2 + 65.05sWARNcontroller_managerOverrun might occur, Total time : 1919.200 us (Expected < 1666.667 us) --> Read time : 138.294 us, Update time : 75.642 us, Write time : 1705.264 us + 65.05sWARNros2_control_nodeOverrun might occur, Total time : 1919.200 us (Expected < 1666.667 us) --> Read time : 138.294 us, Update time : 75.642 us, Write time : 1705.264 us[0m ×2 + 65.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.698095 ms (missed cycles : 5). + 65.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.698095 ms (missed cycles : 5).[0m ×2 + 66.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572455 ms (missed cycles : 2). + 66.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572455 ms (missed cycles : 2).[0m ×2 + 67.17sWARNcontroller_managerOverrun might occur, Total time : 2689.679 us (Expected < 1666.667 us) --> Read time : 137.233 us, Update time : 2281.399 us, Write time : 271.047 us + 67.17sWARNros2_control_nodeOverrun might occur, Total time : 2689.679 us (Expected < 1666.667 us) --> Read time : 137.233 us, Update time : 2281.399 us, Write time : 271.047 us[0m ×2 + 67.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707496 ms (missed cycles : 3). + 67.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707496 ms (missed cycles : 3).[0m ×2 + 68.56sWARNcontroller_managerOverrun might occur, Total time : 3209.683 us (Expected < 1666.667 us) --> Read time : 131.273 us, Update time : 2757.762 us, Write time : 320.648 us + 68.56sWARNros2_control_nodeOverrun might occur, Total time : 3209.683 us (Expected < 1666.667 us) --> Read time : 131.273 us, Update time : 2757.762 us, Write time : 320.648 us[0m ×2 + 68.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935963 ms (missed cycles : 4). + 68.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935963 ms (missed cycles : 4).[0m ×2 + 69.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912332 ms (missed cycles : 5). + 69.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912332 ms (missed cycles : 5).[0m ×2 + 70.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660012 ms (missed cycles : 3). + 70.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660012 ms (missed cycles : 3).[0m ×2 + 70.85sWARNcontroller_managerOverrun might occur, Total time : 2725.951 us (Expected < 1666.667 us) --> Read time : 137.584 us, Update time : 2294.780 us, Write time : 293.587 us + 70.85sWARNros2_control_nodeOverrun might occur, Total time : 2725.951 us (Expected < 1666.667 us) --> Read time : 137.584 us, Update time : 2294.780 us, Write time : 293.587 us[0m ×2 + 71.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 71.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 72.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 72.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 73.10sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 73.10sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 73.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 73.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 74.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 74.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 74.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 75.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 75.36sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 75.36sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 75.63sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 76.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 76.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 77.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 77.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.7s | 264 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781100273.46538591 seconds. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (2.8551e-05 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.05sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.05sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.05sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.05sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.14sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781100276.43551016 seconds ×3 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781100276.97664785 seconds. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541277 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541277 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679346 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679346 ms (missed cycles : 3).[0m ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732168 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732168 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun might occur, Total time : 1930.199 us (Expected < 1666.667 us) --> Read time : 115.092 us, Update time : 1567.250 us, Write time : 247.857 us + 6.21sWARNros2_control_nodeOverrun might occur, Total time : 1930.199 us (Expected < 1666.667 us) --> Read time : 115.092 us, Update time : 1567.250 us, Write time : 247.857 us[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653609 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653609 ms (missed cycles : 3).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402132 ms (missed cycles : 4). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402132 ms (missed cycles : 4).[0m ×2 + 8.74sWARNcontroller_managerOverrun might occur, Total time : 3784.398 us (Expected < 1666.667 us) --> Read time : 119.343 us, Update time : 3353.367 us, Write time : 311.688 us + 8.74sWARNros2_control_nodeOverrun might occur, Total time : 3784.398 us (Expected < 1666.667 us) --> Read time : 119.343 us, Update time : 3353.367 us, Write time : 311.688 us[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095804 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095804 ms (missed cycles : 2).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858040 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858040 ms (missed cycles : 3).[0m ×2 + 10.29sWARNcontroller_managerOverrun might occur, Total time : 4566.258 us (Expected < 1666.667 us) --> Read time : 109.742 us, Update time : 4147.418 us, Write time : 309.098 us + 10.29sWARNros2_control_nodeOverrun might occur, Total time : 4566.258 us (Expected < 1666.667 us) --> Read time : 109.742 us, Update time : 4147.418 us, Write time : 309.098 us[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559560 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559560 ms (missed cycles : 3).[0m ×2 + 12.33sWARNcontroller_managerOverrun might occur, Total time : 3061.010 us (Expected < 1666.667 us) --> Read time : 91.703 us, Update time : 2755.451 us, Write time : 213.856 us + 12.33sWARNros2_control_nodeOverrun might occur, Total time : 3061.010 us (Expected < 1666.667 us) --> Read time : 91.703 us, Update time : 2755.451 us, Write time : 213.856 us[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.657468 ms (missed cycles : 6). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.657468 ms (missed cycles : 6).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027683 ms (missed cycles : 3). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027683 ms (missed cycles : 3).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789715 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789715 ms (missed cycles : 2).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703334 ms (missed cycles : 6). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703334 ms (missed cycles : 6).[0m ×2 + 16.12sWARNcontroller_managerOverrun might occur, Total time : 2563.027 us (Expected < 1666.667 us) --> Read time : 144.323 us, Update time : 2143.566 us, Write time : 275.138 us + 16.12sWARNros2_control_nodeOverrun might occur, Total time : 2563.027 us (Expected < 1666.667 us) --> Read time : 144.323 us, Update time : 2143.566 us, Write time : 275.138 us[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273557 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273557 ms (missed cycles : 4).[0m ×2 + 17.40sWARNcontroller_managerOverrun might occur, Total time : 4516.827 us (Expected < 1666.667 us) --> Read time : 144.733 us, Update time : 4078.576 us, Write time : 293.518 us + 17.40sWARNros2_control_nodeOverrun might occur, Total time : 4516.827 us (Expected < 1666.667 us) --> Read time : 144.733 us, Update time : 4078.576 us, Write time : 293.518 us[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617111 ms (missed cycles : 4). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617111 ms (missed cycles : 4).[0m ×2 + 18.45sWARNcontroller_managerOverrun might occur, Total time : 1677.164 us (Expected < 1666.667 us) --> Read time : 107.293 us, Update time : 1349.075 us, Write time : 220.796 us + 18.45sWARNros2_control_nodeOverrun might occur, Total time : 1677.164 us (Expected < 1666.667 us) --> Read time : 107.293 us, Update time : 1349.075 us, Write time : 220.796 us[0m ×2 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041331 ms (missed cycles : 3). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041331 ms (missed cycles : 3).[0m ×2 + 19.22sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765962 ms (missed cycles : 3). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765962 ms (missed cycles : 3).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690651 ms (missed cycles : 3). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690651 ms (missed cycles : 3).[0m ×2 + 20.93sWARNcontroller_managerOverrun might occur, Total time : 4936.149 us (Expected < 1666.667 us) --> Read time : 93.963 us, Update time : 4573.989 us, Write time : 268.197 us + 20.93sWARNros2_control_nodeOverrun might occur, Total time : 4936.149 us (Expected < 1666.667 us) --> Read time : 93.963 us, Update time : 4573.989 us, Write time : 268.197 us[0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814584 ms (missed cycles : 3). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814584 ms (missed cycles : 3).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941883 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941883 ms (missed cycles : 2).[0m ×2 + 23.02sWARNcontroller_managerOverrun might occur, Total time : 4935.868 us (Expected < 1666.667 us) --> Read time : 95.083 us, Update time : 66.371 us, Write time : 4774.414 us + 23.02sWARNros2_control_nodeOverrun might occur, Total time : 4935.868 us (Expected < 1666.667 us) --> Read time : 95.083 us, Update time : 66.371 us, Write time : 4774.414 us[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445481 ms (missed cycles : 2). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445481 ms (missed cycles : 2).[0m ×2 + 24.09sWARNcontroller_managerOverrun might occur, Total time : 2536.307 us (Expected < 1666.667 us) --> Read time : 156.665 us, Update time : 132.143 us, Write time : 2247.499 us + 24.09sWARNros2_control_nodeOverrun might occur, Total time : 2536.307 us (Expected < 1666.667 us) --> Read time : 156.665 us, Update time : 132.143 us, Write time : 2247.499 us[0m ×2 + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677211 ms (missed cycles : 3). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677211 ms (missed cycles : 3).[0m ×2 + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630518 ms (missed cycles : 3). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630518 ms (missed cycles : 3).[0m ×2 + 27.09sWARNcontroller_managerOverrun might occur, Total time : 2155.877 us (Expected < 1666.667 us) --> Read time : 105.213 us, Update time : 1734.416 us, Write time : 316.248 us + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373467 ms (missed cycles : 2). + 27.09sWARNros2_control_nodeOverrun might occur, Total time : 2155.877 us (Expected < 1666.667 us) --> Read time : 105.213 us, Update time : 1734.416 us, Write time : 316.248 us[0m ×2 + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373467 ms (missed cycles : 2).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276085 ms (missed cycles : 5). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276085 ms (missed cycles : 5).[0m ×2 + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701886 ms (missed cycles : 2). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701886 ms (missed cycles : 2).[0m ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089303 ms (missed cycles : 2). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089303 ms (missed cycles : 2).[0m ×2 + 30.61sWARNcontroller_managerOverrun might occur, Total time : 1695.405 us (Expected < 1666.667 us) --> Read time : 90.053 us, Update time : 1368.715 us, Write time : 236.637 us + 30.61sWARNros2_control_nodeOverrun might occur, Total time : 1695.405 us (Expected < 1666.667 us) --> Read time : 90.053 us, Update time : 1368.715 us, Write time : 236.637 us[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830196 ms (missed cycles : 3). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830196 ms (missed cycles : 3).[0m ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851486 ms (missed cycles : 2). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851486 ms (missed cycles : 2).[0m ×2 + 33.09sWARNcontroller_managerOverrun might occur, Total time : 2785.414 us (Expected < 1666.667 us) --> Read time : 2459.335 us, Update time : 105.013 us, Write time : 221.066 us + 33.09sWARNros2_control_nodeOverrun might occur, Total time : 2785.414 us (Expected < 1666.667 us) --> Read time : 2459.335 us, Update time : 105.013 us, Write time : 221.066 us[0m ×2 + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353474 ms (missed cycles : 4). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353474 ms (missed cycles : 4).[0m ×2 + 33.94sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679913 ms (missed cycles : 5). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679913 ms (missed cycles : 5).[0m ×2 + 35.23sWARNcontroller_managerOverrun might occur, Total time : 3266.885 us (Expected < 1666.667 us) --> Read time : 122.334 us, Update time : 112.663 us, Write time : 3031.888 us + 35.23sWARNros2_control_nodeOverrun might occur, Total time : 3266.885 us (Expected < 1666.667 us) --> Read time : 122.334 us, Update time : 112.663 us, Write time : 3031.888 us[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471176 ms (missed cycles : 3). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471176 ms (missed cycles : 3).[0m ×2 + 36.28sWARNcontroller_managerOverrun might occur, Total time : 2017.372 us (Expected < 1666.667 us) --> Read time : 1657.263 us, Update time : 109.873 us, Write time : 250.236 us + 36.28sWARNros2_control_nodeOverrun might occur, Total time : 2017.372 us (Expected < 1666.667 us) --> Read time : 1657.263 us, Update time : 109.873 us, Write time : 250.236 us[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665003 ms (missed cycles : 3). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665003 ms (missed cycles : 3).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295812 ms (missed cycles : 4). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295812 ms (missed cycles : 4).[0m ×2 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331994 ms (missed cycles : 4). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331994 ms (missed cycles : 4).[0m ×2 + 39.22sWARNcontroller_managerOverrun might occur, Total time : 1698.884 us (Expected < 1666.667 us) --> Read time : 122.403 us, Update time : 1318.694 us, Write time : 257.787 us + 39.22sWARNros2_control_nodeOverrun might occur, Total time : 1698.884 us (Expected < 1666.667 us) --> Read time : 122.403 us, Update time : 1318.694 us, Write time : 257.787 us[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390885 ms (missed cycles : 3). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390885 ms (missed cycles : 3).[0m ×2 + 40.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846648 ms (missed cycles : 2). + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846648 ms (missed cycles : 2).[0m ×2 + 40.91sWARNcontroller_managerOverrun might occur, Total time : 1724.435 us (Expected < 1666.667 us) --> Read time : 185.525 us, Update time : 328.579 us, Write time : 1210.331 us + 40.91sWARNros2_control_nodeOverrun might occur, Total time : 1724.435 us (Expected < 1666.667 us) --> Read time : 185.525 us, Update time : 328.579 us, Write time : 1210.331 us[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464349 ms (missed cycles : 2). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464349 ms (missed cycles : 2).[0m ×2 + 42.12sWARNcontroller_managerOverrun might occur, Total time : 2572.068 us (Expected < 1666.667 us) --> Read time : 81.653 us, Update time : 2225.269 us, Write time : 265.146 us + 42.12sWARNros2_control_nodeOverrun might occur, Total time : 2572.068 us (Expected < 1666.667 us) --> Read time : 81.653 us, Update time : 2225.269 us, Write time : 265.146 us[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330640 ms (missed cycles : 2). + 42.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330640 ms (missed cycles : 2).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811532 ms (missed cycles : 2). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811532 ms (missed cycles : 2).[0m ×2 + 44.07sWARNcontroller_managerOverrun might occur, Total time : 1728.955 us (Expected < 1666.667 us) --> Read time : 105.993 us, Update time : 1391.096 us, Write time : 231.866 us + 44.07sWARNros2_control_nodeOverrun might occur, Total time : 1728.955 us (Expected < 1666.667 us) --> Read time : 105.993 us, Update time : 1391.096 us, Write time : 231.866 us[0m ×2 + 44.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983941 ms (missed cycles : 2). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983941 ms (missed cycles : 2).[0m ×2 + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275324 ms (missed cycles : 2). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275324 ms (missed cycles : 2).[0m ×2 + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.995831 ms (missed cycles : 6). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.995831 ms (missed cycles : 6).[0m ×2 + 47.14sWARNcontroller_managerOverrun might occur, Total time : 2397.992 us (Expected < 1666.667 us) --> Read time : 90.422 us, Update time : 75.142 us, Write time : 2232.428 us + 47.14sWARNros2_control_nodeOverrun might occur, Total time : 2397.992 us (Expected < 1666.667 us) --> Read time : 90.422 us, Update time : 75.142 us, Write time : 2232.428 us[0m ×2 + 48.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.324508 ms (missed cycles : 7). + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.324508 ms (missed cycles : 7).[0m ×2 + 48.72sWARNcontroller_managerOverrun might occur, Total time : 5064.472 us (Expected < 1666.667 us) --> Read time : 100.983 us, Update time : 4583.059 us, Write time : 380.430 us + 48.73sWARNros2_control_nodeOverrun might occur, Total time : 5064.472 us (Expected < 1666.667 us) --> Read time : 100.983 us, Update time : 4583.059 us, Write time : 380.430 us[0m ×2 + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158514 ms (missed cycles : 3). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158514 ms (missed cycles : 3).[0m ×2 + 50.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039491 ms (missed cycles : 2). + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039491 ms (missed cycles : 2).[0m ×2 + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828034 ms (missed cycles : 2). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828034 ms (missed cycles : 2).[0m ×2 + 52.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.676064 ms (missed cycles : 6). + 52.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.676064 ms (missed cycles : 6).[0m ×2 + 52.83sWARNcontroller_managerOverrun might occur, Total time : 1745.195 us (Expected < 1666.667 us) --> Read time : 1441.258 us, Update time : 92.552 us, Write time : 211.385 us + 52.84sWARNros2_control_nodeOverrun might occur, Total time : 1745.195 us (Expected < 1666.667 us) --> Read time : 1441.258 us, Update time : 92.552 us, Write time : 211.385 us[0m ×2 + 53.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096904 ms (missed cycles : 5). + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096904 ms (missed cycles : 5).[0m ×2 + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371188 ms (missed cycles : 3). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371188 ms (missed cycles : 3).[0m ×2 + 55.38sWARNcontroller_managerOverrun might occur, Total time : 1700.084 us (Expected < 1666.667 us) --> Read time : 127.753 us, Update time : 1291.324 us, Write time : 281.007 us + 55.39sWARNros2_control_nodeOverrun might occur, Total time : 1700.084 us (Expected < 1666.667 us) --> Read time : 127.753 us, Update time : 1291.324 us, Write time : 281.007 us[0m ×2 + 55.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371304 ms (missed cycles : 4). + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371304 ms (missed cycles : 4).[0m ×2 + 56.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3).[0m ×2 + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2).[0m ×2 + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8). + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8).[0m ×2 + 58.59sWARNcontroller_managerOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us + 58.59sWARNros2_control_nodeOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us[0m ×2 + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4).[0m ×2 + 59.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781100333.08765149 seconds ×3 + 60.24sWARNcontroller_managerOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us + 60.25sWARNros2_control_nodeOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us[0m ×2 + 60.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781100333.63625717 seconds. ×3 + 60.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5). + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5).[0m ×2 + 60.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.54sWARNcontroller_managerOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us + 61.54sWARNros2_control_nodeOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us[0m ×2 + 61.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5). + 61.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5).[0m ×2 + 62.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4). + 62.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.1s | 255 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.84sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.84sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762950 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762950 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun might occur, Total time : 1797.617 us (Expected < 1666.667 us) --> Read time : 184.415 us, Update time : 1368.595 us, Write time : 244.607 us + 6.85sWARNros2_control_nodeOverrun might occur, Total time : 1797.617 us (Expected < 1666.667 us) --> Read time : 184.415 us, Update time : 1368.595 us, Write time : 244.607 us[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975198 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975198 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323944 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323944 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993218 ms (missed cycles : 2). + 9.62sWARNcontroller_managerOverrun might occur, Total time : 1906.010 us (Expected < 1666.667 us) --> Read time : 87.033 us, Update time : 1649.562 us, Write time : 169.415 us + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993218 ms (missed cycles : 2).[0m ×2 + 9.62sWARNros2_control_nodeOverrun might occur, Total time : 1906.010 us (Expected < 1666.667 us) --> Read time : 87.033 us, Update time : 1649.562 us, Write time : 169.415 us[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809103 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809103 ms (missed cycles : 3).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421530 ms (missed cycles : 4). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421530 ms (missed cycles : 4).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496841 ms (missed cycles : 4). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496841 ms (missed cycles : 4).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808654 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808654 ms (missed cycles : 2).[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601352 ms (missed cycles : 4). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601352 ms (missed cycles : 4).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424984 ms (missed cycles : 4). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424984 ms (missed cycles : 4).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848342 ms (missed cycles : 3). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848342 ms (missed cycles : 3).[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821395 ms (missed cycles : 2). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821395 ms (missed cycles : 2).[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443034 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443034 ms (missed cycles : 3).[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515517 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515517 ms (missed cycles : 3).[0m ×2 + 20.92sWARNcontroller_managerOverrun might occur, Total time : 4758.144 us (Expected < 1666.667 us) --> Read time : 110.303 us, Update time : 4258.051 us, Write time : 389.790 us + 20.92sWARNros2_control_nodeOverrun might occur, Total time : 4758.144 us (Expected < 1666.667 us) --> Read time : 110.303 us, Update time : 4258.051 us, Write time : 389.790 us[0m ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116587 ms (missed cycles : 4). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116587 ms (missed cycles : 4).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163564 ms (missed cycles : 7). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163564 ms (missed cycles : 7).[0m ×2 + 23.13sWARNcontroller_managerOverrun might occur, Total time : 1876.539 us (Expected < 1666.667 us) --> Read time : 128.303 us, Update time : 1482.839 us, Write time : 265.397 us + 23.13sWARNros2_control_nodeOverrun might occur, Total time : 1876.539 us (Expected < 1666.667 us) --> Read time : 128.303 us, Update time : 1482.839 us, Write time : 265.397 us[0m ×2 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728865 ms (missed cycles : 3). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728865 ms (missed cycles : 3).[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244912 ms (missed cycles : 4). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244912 ms (missed cycles : 4).[0m ×2 + 25.51sWARNcontroller_managerOverrun might occur, Total time : 1974.332 us (Expected < 1666.667 us) --> Read time : 134.424 us, Update time : 1574.971 us, Write time : 264.937 us + 25.52sWARNros2_control_nodeOverrun might occur, Total time : 1974.332 us (Expected < 1666.667 us) --> Read time : 134.424 us, Update time : 1574.971 us, Write time : 264.937 us[0m ×2 + 25.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055907 ms (missed cycles : 5). + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055907 ms (missed cycles : 5).[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192801 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192801 ms (missed cycles : 2).[0m ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453163 ms (missed cycles : 4). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453163 ms (missed cycles : 4).[0m ×2 + 27.99sWARNcontroller_managerOverrun might occur, Total time : 2149.096 us (Expected < 1666.667 us) --> Read time : 113.613 us, Update time : 1786.577 us, Write time : 248.906 us + 27.99sWARNros2_control_nodeOverrun might occur, Total time : 2149.096 us (Expected < 1666.667 us) --> Read time : 113.613 us, Update time : 1786.577 us, Write time : 248.906 us[0m ×2 + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876948 ms (missed cycles : 2). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876948 ms (missed cycles : 2).[0m ×2 + 29.03sWARNcontroller_managerOverrun might occur, Total time : 1685.924 us (Expected < 1666.667 us) --> Read time : 95.423 us, Update time : 1348.135 us, Write time : 242.366 us + 29.03sWARNros2_control_nodeOverrun might occur, Total time : 1685.924 us (Expected < 1666.667 us) --> Read time : 95.423 us, Update time : 1348.135 us, Write time : 242.366 us[0m ×2 + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368913 ms (missed cycles : 2). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368913 ms (missed cycles : 2).[0m ×2 + 30.83sWARNcontroller_managerOverrun might occur, Total time : 3133.630 us (Expected < 1666.667 us) --> Read time : 164.994 us, Update time : 2678.369 us, Write time : 290.267 us + 30.83sWARNros2_control_nodeOverrun might occur, Total time : 3133.630 us (Expected < 1666.667 us) --> Read time : 164.994 us, Update time : 2678.369 us, Write time : 290.267 us[0m ×2 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928103 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928103 ms (missed cycles : 2).[0m ×2 + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319890 ms (missed cycles : 2). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319890 ms (missed cycles : 2).[0m ×2 + 31.94sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.09sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.16sWARNcontroller_managerOverrun might occur, Total time : 1833.818 us (Expected < 1666.667 us) --> Read time : 1541.160 us, Update time : 83.382 us, Write time : 209.276 us + 32.16sWARNros2_control_nodeOverrun might occur, Total time : 1833.818 us (Expected < 1666.667 us) --> Read time : 1541.160 us, Update time : 83.382 us, Write time : 209.276 us[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236860 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236860 ms (missed cycles : 3).[0m ×2 + 33.44sWARNcontroller_managerOverrun might occur, Total time : 1945.439 us (Expected < 1666.667 us) --> Read time : 101.702 us, Update time : 1606.642 us, Write time : 237.095 us + 33.44sWARNros2_control_nodeOverrun might occur, Total time : 1945.439 us (Expected < 1666.667 us) --> Read time : 101.702 us, Update time : 1606.642 us, Write time : 237.095 us[0m ×2 + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955206 ms (missed cycles : 3). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955206 ms (missed cycles : 3).[0m ×2 + 34.55sWARNcontroller_managerOverrun might occur, Total time : 2349.711 us (Expected < 1666.667 us) --> Read time : 199.615 us, Update time : 1299.434 us, Write time : 850.662 us + 34.55sWARNros2_control_nodeOverrun might occur, Total time : 2349.711 us (Expected < 1666.667 us) --> Read time : 199.615 us, Update time : 1299.434 us, Write time : 850.662 us[0m ×2 + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235116 ms (missed cycles : 5). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235116 ms (missed cycles : 5).[0m ×2 + 36.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729350 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729350 ms (missed cycles : 2).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381974 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381974 ms (missed cycles : 2).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056497 ms (missed cycles : 2). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056497 ms (missed cycles : 2).[0m ×2 + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007968 ms (missed cycles : 4). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007968 ms (missed cycles : 4).[0m ×2 + 39.98sWARNcontroller_managerOverrun might occur, Total time : 3187.493 us (Expected < 1666.667 us) --> Read time : 61.232 us, Update time : 58.171 us, Write time : 3068.090 us + 39.98sWARNros2_control_nodeOverrun might occur, Total time : 3187.493 us (Expected < 1666.667 us) --> Read time : 61.232 us, Update time : 58.171 us, Write time : 3068.090 us[0m ×2 + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610754 ms (missed cycles : 4). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610754 ms (missed cycles : 4).[0m ×2 + 41.00sWARNcontroller_managerOverrun might occur, Total time : 1884.099 us (Expected < 1666.667 us) --> Read time : 96.883 us, Update time : 1565.131 us, Write time : 222.085 us + 41.00sWARNros2_control_nodeOverrun might occur, Total time : 1884.099 us (Expected < 1666.667 us) --> Read time : 96.883 us, Update time : 1565.131 us, Write time : 222.085 us[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978532 ms (missed cycles : 2). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978532 ms (missed cycles : 2).[0m ×2 + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.026626 ms (missed cycles : 7). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.026626 ms (missed cycles : 7).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857345 ms (missed cycles : 5). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857345 ms (missed cycles : 5).[0m ×2 + 43.96sWARNcontroller_managerOverrun might occur, Total time : 1974.521 us (Expected < 1666.667 us) --> Read time : 101.972 us, Update time : 58.432 us, Write time : 1814.117 us + 43.97sWARNros2_control_nodeOverrun might occur, Total time : 1974.521 us (Expected < 1666.667 us) --> Read time : 101.972 us, Update time : 58.432 us, Write time : 1814.117 us[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704987 ms (missed cycles : 2). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704987 ms (missed cycles : 2).[0m ×2 + 45.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853309 ms (missed cycles : 4). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853309 ms (missed cycles : 4).[0m ×2 + 45.46sWARNcontroller_managerOverrun might occur, Total time : 1828.368 us (Expected < 1666.667 us) --> Read time : 126.853 us, Update time : 103.703 us, Write time : 1597.812 us + 45.46sWARNros2_control_nodeOverrun might occur, Total time : 1828.368 us (Expected < 1666.667 us) --> Read time : 126.853 us, Update time : 103.703 us, Write time : 1597.812 us[0m ×2 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528995 ms (missed cycles : 4). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528995 ms (missed cycles : 4).[0m ×2 + 46.78sWARNcontroller_managerOverrun might occur, Total time : 5278.077 us (Expected < 1666.667 us) --> Read time : 104.212 us, Update time : 206.115 us, Write time : 4967.750 us + 46.78sWARNros2_control_nodeOverrun might occur, Total time : 5278.077 us (Expected < 1666.667 us) --> Read time : 104.212 us, Update time : 206.115 us, Write time : 4967.750 us[0m ×2 + 47.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133681 ms (missed cycles : 2). + 47.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133681 ms (missed cycles : 2).[0m ×2 + 47.90sWARNcontroller_managerOverrun might occur, Total time : 1694.304 us (Expected < 1666.667 us) --> Read time : 141.174 us, Update time : 1346.844 us, Write time : 206.286 us + 47.90sWARNros2_control_nodeOverrun might occur, Total time : 1694.304 us (Expected < 1666.667 us) --> Read time : 141.174 us, Update time : 1346.844 us, Write time : 206.286 us[0m ×2 + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022388 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022388 ms (missed cycles : 3).[0m ×2 + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714937 ms (missed cycles : 2). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714937 ms (missed cycles : 2).[0m ×2 + 49.97sWARNcontroller_managerOverrun might occur, Total time : 2155.335 us (Expected < 1666.667 us) --> Read time : 165.324 us, Update time : 1790.916 us, Write time : 199.095 us + 49.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.335 us (Expected < 1666.667 us) --> Read time : 165.324 us, Update time : 1790.916 us, Write time : 199.095 us[0m ×2 + 50.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920752 ms (missed cycles : 3). + 50.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920752 ms (missed cycles : 3).[0m ×2 + 51.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605786 ms (missed cycles : 4). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605786 ms (missed cycles : 4).[0m ×2 + 52.66sWARNcontroller_managerOverrun might occur, Total time : 2006.681 us (Expected < 1666.667 us) --> Read time : 115.543 us, Update time : 1622.722 us, Write time : 268.416 us + 52.66sWARNros2_control_nodeOverrun might occur, Total time : 2006.681 us (Expected < 1666.667 us) --> Read time : 115.543 us, Update time : 1622.722 us, Write time : 268.416 us[0m ×2 + 52.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893174 ms (missed cycles : 2). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893174 ms (missed cycles : 2).[0m ×2 + 53.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556599 ms (missed cycles : 4). + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556599 ms (missed cycles : 4).[0m ×2 + 53.81sWARNcontroller_managerOverrun might occur, Total time : 1787.526 us (Expected < 1666.667 us) --> Read time : 135.083 us, Update time : 1353.235 us, Write time : 299.208 us + 53.81sWARNros2_control_nodeOverrun might occur, Total time : 1787.526 us (Expected < 1666.667 us) --> Read time : 135.083 us, Update time : 1353.235 us, Write time : 299.208 us[0m ×2 + 54.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716704 ms (missed cycles : 2). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716704 ms (missed cycles : 2).[0m ×2 + 55.01sWARNcontroller_managerOverrun might occur, Total time : 2319.571 us (Expected < 1666.667 us) --> Read time : 104.783 us, Update time : 1967.051 us, Write time : 247.737 us + 55.01sWARNros2_control_nodeOverrun might occur, Total time : 2319.571 us (Expected < 1666.667 us) --> Read time : 104.783 us, Update time : 1967.051 us, Write time : 247.737 us[0m ×2 + 55.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320116 ms (missed cycles : 4). + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320116 ms (missed cycles : 4).[0m ×2 + 56.31sWARNcontroller_managerOverrun might occur, Total time : 2116.094 us (Expected < 1666.667 us) --> Read time : 88.692 us, Update time : 1744.085 us, Write time : 283.317 us + 56.31sWARNros2_control_nodeOverrun might occur, Total time : 2116.094 us (Expected < 1666.667 us) --> Read time : 88.692 us, Update time : 1744.085 us, Write time : 283.317 us[0m ×2 + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435259 ms (missed cycles : 4). + 56.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435259 ms (missed cycles : 4).[0m ×2 + 57.85sWARNcontroller_managerOverrun might occur, Total time : 2951.127 us (Expected < 1666.667 us) --> Read time : 114.563 us, Update time : 2063.524 us, Write time : 773.040 us + 57.85sWARNros2_control_nodeOverrun might occur, Total time : 2951.127 us (Expected < 1666.667 us) --> Read time : 114.563 us, Update time : 2063.524 us, Write time : 773.040 us[0m ×2 + 57.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781100558.53136206 seconds ×3 + 58.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265345 ms (missed cycles : 3). + 58.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265345 ms (missed cycles : 3).[0m ×2 + 58.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781100559.09167886 seconds. ×3 + 58.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 58.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625369 ms (missed cycles : 3). + 59.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625369 ms (missed cycles : 3).[0m ×2 + 60.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354050 ms (missed cycles : 3). + 60.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354050 ms (missed cycles : 3).[0m ×2 + 61.31sWARNcontroller_managerOverrun might occur, Total time : 1848.648 us (Expected < 1666.667 us) --> Read time : 450.312 us, Update time : 121.813 us, Write time : 1276.523 us + 61.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036955 ms (missed cycles : 2). + 61.31sWARNros2_control_nodeOverrun might occur, Total time : 1848.648 us (Expected < 1666.667 us) --> Read time : 450.312 us, Update time : 121.813 us, Write time : 1276.523 us[0m ×2 + 61.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036955 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.9s | 246 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781100367.96661139 seconds ×3 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781100368.51870918 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.83sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.83sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701662 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701662 ms (missed cycles : 5).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 1978.661 us (Expected < 1666.667 us) --> Read time : 309.658 us, Update time : 158.104 us, Write time : 1510.899 us + 6.92sWARNros2_control_nodeOverrun might occur, Total time : 1978.661 us (Expected < 1666.667 us) --> Read time : 309.658 us, Update time : 158.104 us, Write time : 1510.899 us[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247295 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247295 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774710 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774710 ms (missed cycles : 3).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391560 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391560 ms (missed cycles : 3).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316041 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316041 ms (missed cycles : 4).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842318 ms (missed cycles : 5). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842318 ms (missed cycles : 5).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085019 ms (missed cycles : 5). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085019 ms (missed cycles : 5).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041646 ms (missed cycles : 5). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041646 ms (missed cycles : 5).[0m ×2 + 14.55sWARNcontroller_managerOverrun might occur, Total time : 2118.724 us (Expected < 1666.667 us) --> Read time : 149.413 us, Update time : 1693.713 us, Write time : 275.598 us + 14.55sWARNros2_control_nodeOverrun might occur, Total time : 2118.724 us (Expected < 1666.667 us) --> Read time : 149.413 us, Update time : 1693.713 us, Write time : 275.598 us[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116156 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116156 ms (missed cycles : 2).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343289 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343289 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817820 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817820 ms (missed cycles : 4).[0m ×2 + 17.14sWARNcontroller_managerOverrun might occur, Total time : 2087.904 us (Expected < 1666.667 us) --> Read time : 103.333 us, Update time : 1744.365 us, Write time : 240.206 us + 17.14sWARNros2_control_nodeOverrun might occur, Total time : 2087.904 us (Expected < 1666.667 us) --> Read time : 103.333 us, Update time : 1744.365 us, Write time : 240.206 us[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773977 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773977 ms (missed cycles : 2).[0m ×2 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860822 ms (missed cycles : 3). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860822 ms (missed cycles : 3).[0m ×2 + 19.82sWARNcontroller_managerOverrun might occur, Total time : 1870.589 us (Expected < 1666.667 us) --> Read time : 112.813 us, Update time : 1529.390 us, Write time : 228.386 us + 19.82sWARNros2_control_nodeOverrun might occur, Total time : 1870.589 us (Expected < 1666.667 us) --> Read time : 112.813 us, Update time : 1529.390 us, Write time : 228.386 us[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232121 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232121 ms (missed cycles : 2).[0m ×2 + 20.96sWARNcontroller_managerOverrun might occur, Total time : 2242.409 us (Expected < 1666.667 us) --> Read time : 1835.908 us, Update time : 114.923 us, Write time : 291.578 us + 20.96sWARNros2_control_nodeOverrun might occur, Total time : 2242.409 us (Expected < 1666.667 us) --> Read time : 1835.908 us, Update time : 114.923 us, Write time : 291.578 us[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254914 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254914 ms (missed cycles : 2).[0m ×2 + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665985 ms (missed cycles : 2). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665985 ms (missed cycles : 2).[0m ×2 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921171 ms (missed cycles : 3). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921171 ms (missed cycles : 3).[0m ×2 + 23.68sWARNcontroller_managerOverrun might occur, Total time : 1682.773 us (Expected < 1666.667 us) --> Read time : 91.912 us, Update time : 1410.597 us, Write time : 180.264 us + 23.68sWARNros2_control_nodeOverrun might occur, Total time : 1682.773 us (Expected < 1666.667 us) --> Read time : 91.912 us, Update time : 1410.597 us, Write time : 180.264 us[0m ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266667 ms (missed cycles : 5). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266667 ms (missed cycles : 5).[0m ×2 + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475489 ms (missed cycles : 4). + 25.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475489 ms (missed cycles : 4).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680985 ms (missed cycles : 2). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680985 ms (missed cycles : 2).[0m ×2 + 26.71sWARNcontroller_managerOverrun might occur, Total time : 3361.347 us (Expected < 1666.667 us) --> Read time : 92.542 us, Update time : 2983.367 us, Write time : 285.438 us + 26.71sWARNros2_control_nodeOverrun might occur, Total time : 3361.347 us (Expected < 1666.667 us) --> Read time : 92.542 us, Update time : 2983.367 us, Write time : 285.438 us[0m ×2 + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224333 ms (missed cycles : 4). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224333 ms (missed cycles : 4).[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125176 ms (missed cycles : 5). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125176 ms (missed cycles : 5).[0m ×2 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486888 ms (missed cycles : 4). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486888 ms (missed cycles : 4).[0m ×2 + 30.72sWARNcontroller_managerOverrun might occur, Total time : 3786.747 us (Expected < 1666.667 us) --> Read time : 98.462 us, Update time : 3386.007 us, Write time : 302.278 us + 30.72sWARNros2_control_nodeOverrun might occur, Total time : 3786.747 us (Expected < 1666.667 us) --> Read time : 98.462 us, Update time : 3386.007 us, Write time : 302.278 us[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893411 ms (missed cycles : 3). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893411 ms (missed cycles : 3).[0m ×2 + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679874 ms (missed cycles : 4). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679874 ms (missed cycles : 4).[0m ×2 + 32.33sWARNcontroller_managerOverrun might occur, Total time : 1799.176 us (Expected < 1666.667 us) --> Read time : 475.992 us, Update time : 496.182 us, Write time : 827.002 us + 32.33sWARNros2_control_nodeOverrun might occur, Total time : 1799.176 us (Expected < 1666.667 us) --> Read time : 475.992 us, Update time : 496.182 us, Write time : 827.002 us[0m ×2 + 32.43sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619091 ms (missed cycles : 2). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619091 ms (missed cycles : 2).[0m ×2 + 33.07sINFOobjective_server_nodePlanning for 45 path waypoints. ×3 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756573 ms (missed cycles : 2). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756573 ms (missed cycles : 2).[0m ×2 + 34.19sWARNcontroller_managerOverrun might occur, Total time : 1883.239 us (Expected < 1666.667 us) --> Read time : 126.283 us, Update time : 1455.408 us, Write time : 301.548 us + 34.19sWARNros2_control_nodeOverrun might occur, Total time : 1883.239 us (Expected < 1666.667 us) --> Read time : 126.283 us, Update time : 1455.408 us, Write time : 301.548 us[0m ×2 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.764786 ms (missed cycles : 8). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.764786 ms (missed cycles : 8).[0m ×2 + 35.26sWARNcontroller_managerOverrun might occur, Total time : 3806.979 us (Expected < 1666.667 us) --> Read time : 182.025 us, Update time : 3382.287 us, Write time : 242.667 us + 35.26sWARNros2_control_nodeOverrun might occur, Total time : 3806.979 us (Expected < 1666.667 us) --> Read time : 182.025 us, Update time : 3382.287 us, Write time : 242.667 us[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390272 ms (missed cycles : 4). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390272 ms (missed cycles : 4).[0m ×2 + 36.38sWARNcontroller_managerOverrun might occur, Total time : 1822.367 us (Expected < 1666.667 us) --> Read time : 111.603 us, Update time : 1429.827 us, Write time : 280.937 us + 36.38sWARNros2_control_nodeOverrun might occur, Total time : 1822.367 us (Expected < 1666.667 us) --> Read time : 111.603 us, Update time : 1429.827 us, Write time : 280.937 us[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351338 ms (missed cycles : 4). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351338 ms (missed cycles : 4).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.475318 ms (missed cycles : 7). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.475318 ms (missed cycles : 7).[0m ×2 + 38.27sWARNcontroller_managerOverrun might occur, Total time : 2759.262 us (Expected < 1666.667 us) --> Read time : 119.664 us, Update time : 2425.043 us, Write time : 214.555 us + 38.27sWARNros2_control_nodeOverrun might occur, Total time : 2759.262 us (Expected < 1666.667 us) --> Read time : 119.664 us, Update time : 2425.043 us, Write time : 214.555 us[0m ×2 + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583462 ms (missed cycles : 2). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583462 ms (missed cycles : 2).[0m ×2 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970052 ms (missed cycles : 2). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970052 ms (missed cycles : 2).[0m ×2 + 40.48sWARNcontroller_managerOverrun might occur, Total time : 3079.820 us (Expected < 1666.667 us) --> Read time : 111.423 us, Update time : 2685.129 us, Write time : 283.268 us + 40.48sWARNros2_control_nodeOverrun might occur, Total time : 3079.820 us (Expected < 1666.667 us) --> Read time : 111.423 us, Update time : 2685.129 us, Write time : 283.268 us[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769761 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769761 ms (missed cycles : 2).[0m ×2 + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841842 ms (missed cycles : 2). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841842 ms (missed cycles : 2).[0m ×2 + 43.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673818 ms (missed cycles : 2). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673818 ms (missed cycles : 2).[0m ×2 + 44.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013890 ms (missed cycles : 5). + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013890 ms (missed cycles : 5).[0m ×2 + 44.91sWARNcontroller_managerOverrun might occur, Total time : 2349.501 us (Expected < 1666.667 us) --> Read time : 104.723 us, Update time : 1958.831 us, Write time : 285.947 us + 44.91sWARNros2_control_nodeOverrun might occur, Total time : 2349.501 us (Expected < 1666.667 us) --> Read time : 104.723 us, Update time : 1958.831 us, Write time : 285.947 us[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737190 ms (missed cycles : 2). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737190 ms (missed cycles : 2).[0m ×2 + 46.05sWARNcontroller_managerOverrun might occur, Total time : 1771.786 us (Expected < 1666.667 us) --> Read time : 1413.507 us, Update time : 96.912 us, Write time : 261.367 us + 46.05sWARNros2_control_nodeOverrun might occur, Total time : 1771.786 us (Expected < 1666.667 us) --> Read time : 1413.507 us, Update time : 96.912 us, Write time : 261.367 us[0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824518 ms (missed cycles : 3). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824518 ms (missed cycles : 3).[0m ×2 + 47.54sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666159 ms (missed cycles : 2). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666159 ms (missed cycles : 2).[0m ×2 + 48.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535727 ms (missed cycles : 2). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535727 ms (missed cycles : 2).[0m ×2 + 48.97sWARNcontroller_managerOverrun might occur, Total time : 2555.296 us (Expected < 1666.667 us) --> Read time : 115.523 us, Update time : 2170.806 us, Write time : 268.967 us + 48.97sWARNros2_control_nodeOverrun might occur, Total time : 2555.296 us (Expected < 1666.667 us) --> Read time : 115.523 us, Update time : 2170.806 us, Write time : 268.967 us[0m ×2 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402258 ms (missed cycles : 3). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402258 ms (missed cycles : 3).[0m ×2 + 50.02sWARNcontroller_managerOverrun might occur, Total time : 2861.486 us (Expected < 1666.667 us) --> Read time : 131.924 us, Update time : 2463.435 us, Write time : 266.127 us + 50.03sWARNros2_control_nodeOverrun might occur, Total time : 2861.486 us (Expected < 1666.667 us) --> Read time : 131.924 us, Update time : 2463.435 us, Write time : 266.127 us[0m ×2 + 50.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946757 ms (missed cycles : 3). + 50.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946757 ms (missed cycles : 3).[0m ×2 + 51.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167090 ms (missed cycles : 2). + 51.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167090 ms (missed cycles : 2).[0m ×2 + 52.20sWARNcontroller_managerOverrun might occur, Total time : 2729.232 us (Expected < 1666.667 us) --> Read time : 107.343 us, Update time : 2309.350 us, Write time : 312.539 us + 52.20sWARNros2_control_nodeOverrun might occur, Total time : 2729.232 us (Expected < 1666.667 us) --> Read time : 107.343 us, Update time : 2309.350 us, Write time : 312.539 us[0m ×2 + 52.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991864 ms (missed cycles : 2). + 52.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991864 ms (missed cycles : 2).[0m ×2 + 53.33sWARNcontroller_managerOverrun might occur, Total time : 3848.989 us (Expected < 1666.667 us) --> Read time : 163.404 us, Update time : 113.242 us, Write time : 3572.343 us + 53.33sWARNros2_control_nodeOverrun might occur, Total time : 3848.989 us (Expected < 1666.667 us) --> Read time : 163.404 us, Update time : 113.242 us, Write time : 3572.343 us[0m ×2 + 54.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982566 ms (missed cycles : 2). + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982566 ms (missed cycles : 2).[0m ×2 + 55.04sWARNcontroller_managerOverrun might occur, Total time : 1895.240 us (Expected < 1666.667 us) --> Read time : 91.883 us, Update time : 1538.801 us, Write time : 264.556 us + 55.05sWARNros2_control_nodeOverrun might occur, Total time : 1895.240 us (Expected < 1666.667 us) --> Read time : 91.883 us, Update time : 1538.801 us, Write time : 264.556 us[0m ×2 + 55.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017617 ms (missed cycles : 4). + 55.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017617 ms (missed cycles : 4).[0m ×2 + 55.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781100420.86886835 seconds ×3 + 56.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719390 ms (missed cycles : 6). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719390 ms (missed cycles : 6).[0m ×2 + 56.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781100421.40460825 seconds. ×3 + 56.73sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 56.98sWARNcontroller_managerOverrun might occur, Total time : 2265.959 us (Expected < 1666.667 us) --> Read time : 118.583 us, Update time : 1920.350 us, Write time : 227.026 us + 56.98sWARNros2_control_nodeOverrun might occur, Total time : 2265.959 us (Expected < 1666.667 us) --> Read time : 118.583 us, Update time : 1920.350 us, Write time : 227.026 us[0m ×2 + 57.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063550 ms (missed cycles : 2). + 57.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063550 ms (missed cycles : 2).[0m ×2 + 57.75sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319251 ms (missed cycles : 4). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319251 ms (missed cycles : 4).[0m ×2 + 58.91sWARNcontroller_managerOverrun might occur, Total time : 1831.468 us (Expected < 1666.667 us) --> Read time : 90.093 us, Update time : 1565.260 us, Write time : 176.115 us + 58.92sWARNros2_control_nodeOverrun might occur, Total time : 1831.468 us (Expected < 1666.667 us) --> Read time : 90.093 us, Update time : 1565.260 us, Write time : 176.115 us[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.4s | 207 warnings · 766 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.26sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.26sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.26sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.26sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.28sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.28sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.29sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.29sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.29sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.29sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.30sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.30sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 0.62sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.91sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.91sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.91sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.91sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.91sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.93sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.26sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.49sINFOmove_groupClearing octomap...[0m ×2 + 1.49sINFOmove_groupOctomap cleared.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 1.51sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.51sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.51sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.51sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.52sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.54sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.55sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.55sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.55sINFOplatform_velocity_controllerconfigure successful + 1.55sINFOros2_control_nodeconfigure successful[0m ×2 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.56sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 1.88sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.13sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.16sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.17sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.17sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.17sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.19sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.42sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.42sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 2.78sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.91sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.04sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.04sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.04sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.04sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.04sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.04sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.07sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.07sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.07sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.08sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 3.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 4.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 + 6.38sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498011 ms (missed cycles : 4). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498011 ms (missed cycles : 4).[0m ×2 + 7.62sWARNcontroller_managerOverrun might occur, Total time : 5184.764 us (Expected < 1666.667 us) --> Read time : 132.943 us, Update time : 1113.699 us, Write time : 3938.122 us + 7.62sWARNros2_control_nodeOverrun might occur, Total time : 5184.764 us (Expected < 1666.667 us) --> Read time : 132.943 us, Update time : 1113.699 us, Write time : 3938.122 us[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812094 ms (missed cycles : 5). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812094 ms (missed cycles : 5).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079126 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079126 ms (missed cycles : 2).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357650 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357650 ms (missed cycles : 3).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830728 ms (missed cycles : 3). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830728 ms (missed cycles : 3).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971765 ms (missed cycles : 5). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971765 ms (missed cycles : 5).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941519 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941519 ms (missed cycles : 3).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791280 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791280 ms (missed cycles : 3).[0m ×2 + 14.96sWARNcontroller_managerOverrun might occur, Total time : 3358.417 us (Expected < 1666.667 us) --> Read time : 117.783 us, Update time : 2955.797 us, Write time : 284.837 us + 14.96sWARNros2_control_nodeOverrun might occur, Total time : 3358.417 us (Expected < 1666.667 us) --> Read time : 117.783 us, Update time : 2955.797 us, Write time : 284.837 us[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453874 ms (missed cycles : 4). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453874 ms (missed cycles : 4).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709099 ms (missed cycles : 4). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709099 ms (missed cycles : 4).[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701578 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701578 ms (missed cycles : 2).[0m ×2 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003644 ms (missed cycles : 3). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003644 ms (missed cycles : 3).[0m ×2 + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171616 ms (missed cycles : 4). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171616 ms (missed cycles : 4).[0m ×2 + 20.37sWARNcontroller_managerOverrun might occur, Total time : 1748.115 us (Expected < 1666.667 us) --> Read time : 130.793 us, Update time : 1369.276 us, Write time : 248.046 us + 20.37sWARNros2_control_nodeOverrun might occur, Total time : 1748.115 us (Expected < 1666.667 us) --> Read time : 130.793 us, Update time : 1369.276 us, Write time : 248.046 us[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672184 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672184 ms (missed cycles : 3).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780558 ms (missed cycles : 2). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780558 ms (missed cycles : 2).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144866 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144866 ms (missed cycles : 2).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851432 ms (missed cycles : 2). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851432 ms (missed cycles : 2).[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769135 ms (missed cycles : 3). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769135 ms (missed cycles : 3).[0m ×2 + 25.82sWARNcontroller_managerOverrun might occur, Total time : 1750.585 us (Expected < 1666.667 us) --> Read time : 120.433 us, Update time : 1341.194 us, Write time : 288.958 us + 25.82sWARNros2_control_nodeOverrun might occur, Total time : 1750.585 us (Expected < 1666.667 us) --> Read time : 120.433 us, Update time : 1341.194 us, Write time : 288.958 us[0m ×2 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440457 ms (missed cycles : 4). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440457 ms (missed cycles : 4).[0m ×2 + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895346 ms (missed cycles : 4). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895346 ms (missed cycles : 4).[0m ×2 + 27.63sWARNcontroller_managerOverrun might occur, Total time : 2951.087 us (Expected < 1666.667 us) --> Read time : 113.543 us, Update time : 2594.328 us, Write time : 243.216 us + 27.63sWARNros2_control_nodeOverrun might occur, Total time : 2951.087 us (Expected < 1666.667 us) --> Read time : 113.543 us, Update time : 2594.328 us, Write time : 243.216 us[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007023 ms (missed cycles : 5). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007023 ms (missed cycles : 5).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225439 ms (missed cycles : 5). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225439 ms (missed cycles : 5).[0m ×2 + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359943 ms (missed cycles : 4). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359943 ms (missed cycles : 4).[0m ×2 + 30.24sWARNcontroller_managerOverrun might occur, Total time : 1688.884 us (Expected < 1666.667 us) --> Read time : 122.964 us, Update time : 1290.333 us, Write time : 275.587 us + 30.24sWARNros2_control_nodeOverrun might occur, Total time : 1688.884 us (Expected < 1666.667 us) --> Read time : 122.964 us, Update time : 1290.333 us, Write time : 275.587 us[0m ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607756 ms (missed cycles : 3). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607756 ms (missed cycles : 3).[0m ×2 + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098965 ms (missed cycles : 2). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098965 ms (missed cycles : 2).[0m ×2 + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046058 ms (missed cycles : 4). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046058 ms (missed cycles : 4).[0m ×2 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189066 ms (missed cycles : 4). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189066 ms (missed cycles : 4).[0m ×2 + 34.51sWARNcontroller_managerOverrun might occur, Total time : 4369.983 us (Expected < 1666.667 us) --> Read time : 144.814 us, Update time : 3892.071 us, Write time : 333.098 us + 34.51sWARNros2_control_nodeOverrun might occur, Total time : 4369.983 us (Expected < 1666.667 us) --> Read time : 144.814 us, Update time : 3892.071 us, Write time : 333.098 us[0m ×2 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624894 ms (missed cycles : 2). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624894 ms (missed cycles : 2).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239801 ms (missed cycles : 4). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239801 ms (missed cycles : 4).[0m ×2 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396353 ms (missed cycles : 2). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396353 ms (missed cycles : 2).[0m ×2 + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942285 ms (missed cycles : 3). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942285 ms (missed cycles : 3).[0m ×2 + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560393 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560393 ms (missed cycles : 3).[0m ×2 + 40.21sWARNcontroller_managerOverrun might occur, Total time : 1735.795 us (Expected < 1666.667 us) --> Read time : 125.063 us, Update time : 1354.925 us, Write time : 255.807 us + 40.21sWARNros2_control_nodeOverrun might occur, Total time : 1735.795 us (Expected < 1666.667 us) --> Read time : 125.063 us, Update time : 1354.925 us, Write time : 255.807 us[0m ×2 + 40.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510916 ms (missed cycles : 3). + 40.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510916 ms (missed cycles : 3).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424351 ms (missed cycles : 4). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424351 ms (missed cycles : 4).[0m ×2 + 42.05sWARNcontroller_managerOverrun might occur, Total time : 2296.179 us (Expected < 1666.667 us) --> Read time : 141.634 us, Update time : 300.137 us, Write time : 1854.408 us + 42.06sWARNros2_control_nodeOverrun might occur, Total time : 2296.179 us (Expected < 1666.667 us) --> Read time : 141.634 us, Update time : 300.137 us, Write time : 1854.408 us[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156222 ms (missed cycles : 3). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156222 ms (missed cycles : 3).[0m ×2 + 43.48sWARNcontroller_managerOverrun might occur, Total time : 2281.389 us (Expected < 1666.667 us) --> Read time : 116.673 us, Update time : 1936.260 us, Write time : 228.456 us + 43.48sWARNros2_control_nodeOverrun might occur, Total time : 2281.389 us (Expected < 1666.667 us) --> Read time : 116.673 us, Update time : 1936.260 us, Write time : 228.456 us[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895221 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895221 ms (missed cycles : 3).[0m ×2 + 44.83sWARNcontroller_managerOverrun might occur, Total time : 2133.155 us (Expected < 1666.667 us) --> Read time : 203.315 us, Update time : 1658.583 us, Write time : 271.257 us + 44.83sWARNros2_control_nodeOverrun might occur, Total time : 2133.155 us (Expected < 1666.667 us) --> Read time : 203.315 us, Update time : 1658.583 us, Write time : 271.257 us[0m ×2 + 44.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539045 ms (missed cycles : 3). + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539045 ms (missed cycles : 3).[0m ×2 + 45.99sWARNcontroller_managerOverrun might occur, Total time : 3331.076 us (Expected < 1666.667 us) --> Read time : 131.613 us, Update time : 2886.875 us, Write time : 312.588 us + 45.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622616 ms (missed cycles : 3). + 45.99sWARNros2_control_nodeOverrun might occur, Total time : 3331.076 us (Expected < 1666.667 us) --> Read time : 131.613 us, Update time : 2886.875 us, Write time : 312.588 us[0m ×2 + 45.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622616 ms (missed cycles : 3).[0m ×2 + 46.80sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 46.80sINFOros2_control_nodeGoal reached, success![0m ×4 + 46.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781100272.92671871 seconds ×3 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3).[0m ×2 + 47.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781100273.46538591 seconds. ×3 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5).[0m ×2 + 48.20sINFOobjective_server_nodeFound path in 0 iterations (2.8551e-05 s). ×2 + 48.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.40sWARNcontroller_managerOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us + 48.40sWARNros2_control_nodeOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us[0m ×2 + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4).[0m ×2 + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3).[0m ×2 + 50.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781100276.43551016 seconds ×3 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 144 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055590 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055590 ms (missed cycles : 5).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 1868.098 us (Expected < 1666.667 us) --> Read time : 119.413 us, Update time : 122.223 us, Write time : 1626.462 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 1868.098 us (Expected < 1666.667 us) --> Read time : 119.413 us, Update time : 122.223 us, Write time : 1626.462 us[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.78sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781100337.60637856 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927871 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927871 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781100338.13645887 seconds. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 1872.858 us (Expected < 1666.667 us) --> Read time : 117.713 us, Update time : 1545.580 us, Write time : 209.565 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 1872.858 us (Expected < 1666.667 us) --> Read time : 117.713 us, Update time : 1545.580 us, Write time : 209.565 us[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914698 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914698 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555521 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555521 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 1701.836 us (Expected < 1666.667 us) --> Read time : 122.913 us, Update time : 1259.594 us, Write time : 319.329 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 1701.836 us (Expected < 1666.667 us) --> Read time : 122.913 us, Update time : 1259.594 us, Write time : 319.329 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827643 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827643 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321462 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321462 ms (missed cycles : 4).[0m ×2 + 8.19sWARNcontroller_managerOverrun might occur, Total time : 3183.757 us (Expected < 1666.667 us) --> Read time : 128.093 us, Update time : 2700.774 us, Write time : 354.890 us + 8.19sWARNros2_control_nodeOverrun might occur, Total time : 3183.757 us (Expected < 1666.667 us) --> Read time : 128.093 us, Update time : 2700.774 us, Write time : 354.890 us[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189881 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189881 ms (missed cycles : 4).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417591 ms (missed cycles : 4). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417591 ms (missed cycles : 4).[0m ×2 + 10.03sWARNcontroller_managerOverrun might occur, Total time : 2651.081 us (Expected < 1666.667 us) --> Read time : 136.473 us, Update time : 2272.502 us, Write time : 242.106 us + 10.03sWARNros2_control_nodeOverrun might occur, Total time : 2651.081 us (Expected < 1666.667 us) --> Read time : 136.473 us, Update time : 2272.502 us, Write time : 242.106 us[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664883 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664883 ms (missed cycles : 2).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372279 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372279 ms (missed cycles : 3).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387354 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387354 ms (missed cycles : 4).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527283 ms (missed cycles : 4). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527283 ms (missed cycles : 4).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130279 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130279 ms (missed cycles : 3).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063881 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063881 ms (missed cycles : 2).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056818 ms (missed cycles : 4). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056818 ms (missed cycles : 4).[0m ×2 + 17.68sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.75sWARNcontroller_managerOverrun might occur, Total time : 1802.349 us (Expected < 1666.667 us) --> Read time : 114.053 us, Update time : 73.272 us, Write time : 1615.024 us + 17.75sWARNros2_control_nodeOverrun might occur, Total time : 1802.349 us (Expected < 1666.667 us) --> Read time : 114.053 us, Update time : 73.272 us, Write time : 1615.024 us[0m ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003353 ms (missed cycles : 2). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003353 ms (missed cycles : 2).[0m ×2 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917706 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917706 ms (missed cycles : 2).[0m ×2 + 19.42sWARNcontroller_managerOverrun might occur, Total time : 2140.818 us (Expected < 1666.667 us) --> Read time : 113.123 us, Update time : 1795.299 us, Write time : 232.396 us + 19.42sWARNros2_control_nodeOverrun might occur, Total time : 2140.818 us (Expected < 1666.667 us) --> Read time : 113.123 us, Update time : 1795.299 us, Write time : 232.396 us[0m ×2 + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657945 ms (missed cycles : 4). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657945 ms (missed cycles : 4).[0m ×2 + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458224 ms (missed cycles : 3). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458224 ms (missed cycles : 3).[0m ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968163 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968163 ms (missed cycles : 2).[0m ×2 + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576145 ms (missed cycles : 3). + 23.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576145 ms (missed cycles : 3).[0m ×2 + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599220 ms (missed cycles : 5). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599220 ms (missed cycles : 5).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848621 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848621 ms (missed cycles : 2).[0m ×2 + 25.58sWARNcontroller_managerOverrun might occur, Total time : 2521.238 us (Expected < 1666.667 us) --> Read time : 102.403 us, Update time : 2182.979 us, Write time : 235.856 us + 25.58sWARNros2_control_nodeOverrun might occur, Total time : 2521.238 us (Expected < 1666.667 us) --> Read time : 102.403 us, Update time : 2182.979 us, Write time : 235.856 us[0m ×2 + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824250 ms (missed cycles : 2). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824250 ms (missed cycles : 2).[0m ×2 + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581712 ms (missed cycles : 2). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581712 ms (missed cycles : 2).[0m ×2 + 28.13sWARNcontroller_managerOverrun might occur, Total time : 2332.181 us (Expected < 1666.667 us) --> Read time : 144.794 us, Update time : 1924.650 us, Write time : 262.737 us + 28.13sWARNros2_control_nodeOverrun might occur, Total time : 2332.181 us (Expected < 1666.667 us) --> Read time : 144.794 us, Update time : 1924.650 us, Write time : 262.737 us[0m ×2 + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820108 ms (missed cycles : 3). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820108 ms (missed cycles : 3).[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.516396 ms (missed cycles : 7). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.516396 ms (missed cycles : 7).[0m ×2 + 30.14sWARNcontroller_managerOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us + 30.14sWARNros2_control_nodeOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2).[0m ×2 + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5).[0m ×2 + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4).[0m ×2 + 32.75sWARNcontroller_managerOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us + 32.75sWARNros2_control_nodeOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us[0m ×2 + 33.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781100367.96661139 seconds ×3 + 33.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781100368.51870918 seconds. ×3 + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2).[0m ×2 + 33.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2).[0m ×2 + 34.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.40sWARNcontroller_managerOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us + 35.40sWARNros2_control_nodeOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us[0m ×2 + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.0s | 78 errors · 48 warnings · 385 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224811 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224811 ms (missed cycles : 4).[0m ×2 + 0.67sWARNcontroller_managerOverrun might occur, Total time : 2360.301 us (Expected < 1666.667 us) --> Read time : 118.753 us, Update time : 1997.632 us, Write time : 243.916 us + 0.67sWARNros2_control_nodeOverrun might occur, Total time : 2360.301 us (Expected < 1666.667 us) --> Read time : 118.753 us, Update time : 1997.632 us, Write time : 243.916 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020924 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020924 ms (missed cycles : 4).[0m ×2 + 1.75sINFOjoint_trajectory_controllerGoal reached, success! + 1.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781100570.82321668 seconds ×3 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sWARNcontroller_managerOverrun might occur, Total time : 1909.790 us (Expected < 1666.667 us) --> Read time : 100.683 us, Update time : 1599.562 us, Write time : 209.545 us + 1.95sWARNros2_control_nodeOverrun might occur, Total time : 1909.790 us (Expected < 1666.667 us) --> Read time : 100.683 us, Update time : 1599.562 us, Write time : 209.545 us[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850815 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850815 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781100571.39562774 seconds. ×3 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.35sINFOmove_groupClearing octomap...[0m ×2 + 2.35sINFOmove_groupOctomap cleared.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781100571.78575253 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.526281 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.526281 ms (missed cycles : 6).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1945.121 us (Expected < 1666.667 us) --> Read time : 131.824 us, Update time : 81.582 us, Write time : 1731.715 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1945.121 us (Expected < 1666.667 us) --> Read time : 131.824 us, Update time : 81.582 us, Write time : 1731.715 us[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781100572.31915402 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781100572.67928457 seconds ×3 + 3.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984485 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984485 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 2152.716 us (Expected < 1666.667 us) --> Read time : 120.073 us, Update time : 1713.444 us, Write time : 319.199 us + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428924 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 2152.716 us (Expected < 1666.667 us) --> Read time : 120.073 us, Update time : 1713.444 us, Write time : 319.199 us[0m ×2 + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428924 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940551 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940551 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun might occur, Total time : 2228.428 us (Expected < 1666.667 us) --> Read time : 99.313 us, Update time : 1850.148 us, Write time : 278.967 us + 6.85sWARNros2_control_nodeOverrun might occur, Total time : 2228.428 us (Expected < 1666.667 us) --> Read time : 99.313 us, Update time : 1850.148 us, Write time : 278.967 us[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078767 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078767 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462527 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462527 ms (missed cycles : 4).[0m ×2 + 9.14sWARNcontroller_managerOverrun might occur, Total time : 1820.857 us (Expected < 1666.667 us) --> Read time : 1437.137 us, Update time : 117.993 us, Write time : 265.727 us + 9.14sWARNros2_control_nodeOverrun might occur, Total time : 1820.857 us (Expected < 1666.667 us) --> Read time : 1437.137 us, Update time : 117.993 us, Write time : 265.727 us[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899178 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899178 ms (missed cycles : 3).[0m ×2 + 9.63sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 9.66sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.66sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.66sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.67sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.67sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 9.69sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.72sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 9.73sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 9.75sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 9.76sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.76sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 9.78sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 9.79sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 9.81sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 9.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.83sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 9.84sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 9.86sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 9.88sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 9.88sINFOcontroller_managerShutdown request received.... + 9.88sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.89sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.89sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.89sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.89sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.89sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.89sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.89sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.89sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.89sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.89sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.89sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.89sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.89sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.89sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.89sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.89sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.89sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.89sINFOcontroller_managerShutting down the controller manager. + 9.90sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 9.92sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 9.92sINFOweb_video_server-31process has finished cleanly [pid 10992] ×2 + 9.92sERRORmove_group-20process has died [pid 10918, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_r3kt84ea --params-file /tmp/launch_params_ydiy9_xr --params-file /tmp/launch_params_mjd02nzi --params-file /tmp/launch_params_idsj6vhc --params-file /tmp/launch_params_ehy2eb9c --params-file /tmp/launch_params_a_lplh13 --params-file /tmp/launch_params_2ab7_hf5 --params-file /tmp/launch_params_nv95y9uc --params-file /tmp/launch_params_9lt3w9zi']. ×2 + 9.92sINFOtf2_web_republisher_node-30process has finished cleanly [pid 10991] ×2 + 9.93sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.94sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 9.96sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.97sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 9.99sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 9.99sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 9.99sINFOcontroller_serverCleaning up + 9.99sINFOlocal_costmap.local_costmapCleaning up + 9.99sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.99sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 9.99sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 9.99sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 9.99sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.99sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 9.99sINFOui_teleop_bridgerclpy.shutdown() ×2 + 9.99sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 9.99sINFOui_teleop_bridge_shutdown(context=context) ×2 + 9.99sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 9.99sINFOui_teleop_bridgecontext.shutdown() ×2 + 9.99sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 9.99sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 9.99sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 9.99sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.99sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.99sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.00sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sERRORobjective_server_node_main-25process has died [pid 10966, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_kmvl1mza --params-file /tmp/launch_params_c58670rv --params-file /tmp/launch_params_y8agmog_ --params-file /tmp/launch_params_ar1qqrmm --params-file /tmp/launch_params_vwmhtncr --params-file /tmp/launch_params_ao64eeup']. ×2 + 10.00sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.00sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.00sERRORmove_groupStack trace (most recent call last) in thread 11484: ×2 + 10.00sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.00sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f66333bda63, in __clone ×2 + 10.00sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6633330aa3, in ×2 + 10.00sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f66335c2db3, in ×2 + 10.00sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f6633c1719a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.00sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f66339354d0, in rclcpp::Rate::sleep() ×2 + 10.00sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6633888a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.00sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f663384da71, in ×2 + 10.00sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6633591390, in __cxa_throw ×2 + 10.00sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f663357ba54, in std::terminate() ×2 + 10.00sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f66335910d9, in ×2 + 10.00sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f663357bff4, in ×2 + 10.00sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f66332bc8fe, in abort ×2 + 10.00sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f66332d927d, in raise ×2 + 10.00sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6633332b2c, in pthread_kill ×2 + 10.00sERRORmove_groupAborted (Signal sent by tkill() 10918 0) ×2 + 10.00sINFOobjective_server_node[2026-06-10 14:09:38.917] [moveit_pro_license] [info] ×2 + 10.00sINFOobjective_server_node************************************************* ×4 + 10.00sINFOobjective_server_node* MoveIt Pro License ×2 + 10.00sINFOobjective_server_node* Application has successfully terminated ×2 + 10.00sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.00sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.00sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.00sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.00sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.00sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.00sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.00sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.00sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.00sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.00sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 10.00sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.00sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.01sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.01sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56390cf566a4, in _start ×2 + 10.01sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc59c83528a, in __libc_start_main ×2 + 10.01sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc59c8351d0, in ×2 + 10.01sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc59c852bbd, in exit ×2 + 10.01sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc59c852a75, in ×2 + 10.01sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fc59cd244a2, in spdlog::details::registry::~registry() ×2 + 10.01sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fc59cd2f69d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.01sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fc59cd29965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.01sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56390cf5d315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.01sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56390cf5c5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.01sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56390cf58b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.01sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56390cf56d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.01sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc59d3a7454, in rclcpp::Node::~Node() ×2 + 10.01sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc59d362515, in ×2 + 10.01sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc59d3a5d20, in ×2 + 10.01sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc59d3a5c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.01sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc59d3625d9, in ×2 + 10.01sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc59d367161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.01sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fc5496eb420]) ×2 + 10.01sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.01sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.01sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.01sINFOodom_qos_relay.pymain() ×2 + 10.01sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.01sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.01sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.01sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.01sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.01sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.01sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.01sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.01sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 10.01sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.02sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.03sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.03sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.03sINFOmap_serverDeactivating + 10.03sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.04sINFOmap_serverCleaning up + 10.04sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.04sINFOsmoother_serverCleaning up + 10.05sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.05sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.05sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.07sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.07sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.07sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.07sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.07sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.07sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.07sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.07sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.07sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.07sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.07sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.10sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.10sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.10sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.84sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10965] ×2 + 10.85sINFOexecute_objective_bridge-27process has finished cleanly [pid 10984] ×2 + 10.86sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10923] ×2 + 10.86sERRORui_teleop_bridge-28process has died [pid 10987, 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_dddkqsbd']. ×2 + 10.90sINFOparameter_manager_node-21process has finished cleanly [pid 10920] ×2 + 10.93sINFOwaypoint_manager_node-22process has finished cleanly [pid 10922] ×2 + 10.94sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10819] ×2 + 10.96sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10818] ×2 + 10.97sINFOcomponent_container_mt-26process has finished cleanly [pid 10983] ×2 + 10.98sINFOstatic_transform_publisher-4process has finished cleanly [pid 10816] ×2 + 11.00sINFOstatic_transform_publisher-3process has finished cleanly [pid 10815] ×2 + 11.01sINFOstatic_transform_publisher-2process has finished cleanly [pid 10814] ×2 + 11.03sERRORodom_qos_relay.py-5process has died [pid 10817, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.43sINFOweb_bridge-29process has finished cleanly [pid 10990] ×2 + 12.43sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 12.63sINFOros2_control_node-8process has finished cleanly [pid 10820] ×2 + 14.63sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 14.64sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 14.65sERRORcomponent_container_isolated-1process has died [pid 10813, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_oy1eb67g --params-file /tmp/launch_params_vb_1r_tt -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.3s | 90 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716704 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716704 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 2319.571 us (Expected < 1666.667 us) --> Read time : 104.783 us, Update time : 1967.051 us, Write time : 247.737 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 2319.571 us (Expected < 1666.667 us) --> Read time : 104.783 us, Update time : 1967.051 us, Write time : 247.737 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320116 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320116 ms (missed cycles : 4).[0m ×2 + 1.48sWARNcontroller_managerOverrun might occur, Total time : 2116.094 us (Expected < 1666.667 us) --> Read time : 88.692 us, Update time : 1744.085 us, Write time : 283.317 us + 1.48sWARNros2_control_nodeOverrun might occur, Total time : 2116.094 us (Expected < 1666.667 us) --> Read time : 88.692 us, Update time : 1744.085 us, Write time : 283.317 us[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435259 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435259 ms (missed cycles : 4).[0m ×2 + 3.02sWARNcontroller_managerOverrun might occur, Total time : 2951.127 us (Expected < 1666.667 us) --> Read time : 114.563 us, Update time : 2063.524 us, Write time : 773.040 us + 3.02sWARNros2_control_nodeOverrun might occur, Total time : 2951.127 us (Expected < 1666.667 us) --> Read time : 114.563 us, Update time : 2063.524 us, Write time : 773.040 us[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781100558.53136206 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265345 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265345 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781100559.09167886 seconds. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625369 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625369 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354050 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354050 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 1848.648 us (Expected < 1666.667 us) --> Read time : 450.312 us, Update time : 121.813 us, Write time : 1276.523 us + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036955 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 1848.648 us (Expected < 1666.667 us) --> Read time : 450.312 us, Update time : 121.813 us, Write time : 1276.523 us[0m ×2 + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036955 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481453 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481453 ms (missed cycles : 4).[0m ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (7.51e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929918 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929918 ms (missed cycles : 3).[0m ×2 + 8.60sINFOobjective_server_nodeFound path in 69 iterations (0.0417641 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.93sWARNcontroller_managerOverrun might occur, Total time : 1705.834 us (Expected < 1666.667 us) --> Read time : 102.772 us, Update time : 76.722 us, Write time : 1526.340 us + 8.93sWARNros2_control_nodeOverrun might occur, Total time : 1705.834 us (Expected < 1666.667 us) --> Read time : 102.772 us, Update time : 76.722 us, Write time : 1526.340 us[0m ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.38sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.42sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463583 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463583 ms (missed cycles : 4).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993577 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993577 ms (missed cycles : 3).[0m ×2 + 11.48sWARNcontroller_managerOverrun might occur, Total time : 1816.967 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 114.923 us, Write time : 1569.461 us + 11.48sWARNros2_control_nodeOverrun might occur, Total time : 1816.967 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 114.923 us, Write time : 1569.461 us[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537285 ms (missed cycles : 4). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537285 ms (missed cycles : 4).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835777 ms (missed cycles : 4). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835777 ms (missed cycles : 4).[0m ×2 + 12.68sWARNcontroller_managerOverrun might occur, Total time : 1768.925 us (Expected < 1666.667 us) --> Read time : 125.243 us, Update time : 1363.585 us, Write time : 280.097 us + 12.69sWARNros2_control_nodeOverrun might occur, Total time : 1768.925 us (Expected < 1666.667 us) --> Read time : 125.243 us, Update time : 1363.585 us, Write time : 280.097 us[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224811 ms (missed cycles : 4). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224811 ms (missed cycles : 4).[0m ×2 + 14.30sWARNcontroller_managerOverrun might occur, Total time : 2360.301 us (Expected < 1666.667 us) --> Read time : 118.753 us, Update time : 1997.632 us, Write time : 243.916 us + 14.30sWARNros2_control_nodeOverrun might occur, Total time : 2360.301 us (Expected < 1666.667 us) --> Read time : 118.753 us, Update time : 1997.632 us, Write time : 243.916 us[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020924 ms (missed cycles : 4). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020924 ms (missed cycles : 4).[0m ×2 + 15.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781100570.82321668 seconds ×3 + 15.58sWARNcontroller_managerOverrun might occur, Total time : 1909.790 us (Expected < 1666.667 us) --> Read time : 100.683 us, Update time : 1599.562 us, Write time : 209.545 us + 15.58sWARNros2_control_nodeOverrun might occur, Total time : 1909.790 us (Expected < 1666.667 us) --> Read time : 100.683 us, Update time : 1599.562 us, Write time : 209.545 us[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850815 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850815 ms (missed cycles : 3).[0m ×2 + 15.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781100571.39562774 seconds. ×3 + 15.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 15.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 15.99sINFOmove_groupClearing octomap...[0m ×2 + 15.99sINFOmove_groupOctomap cleared.[0m ×2 + 16.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781100571.78575253 seconds ×3 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.526281 ms (missed cycles : 6). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.526281 ms (missed cycles : 6).[0m ×2 + 16.78sWARNcontroller_managerOverrun might occur, Total time : 1945.121 us (Expected < 1666.667 us) --> Read time : 131.824 us, Update time : 81.582 us, Write time : 1731.715 us + 16.78sWARNros2_control_nodeOverrun might occur, Total time : 1945.121 us (Expected < 1666.667 us) --> Read time : 131.824 us, Update time : 81.582 us, Write time : 1731.715 us[0m ×2 + 16.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781100572.31915402 seconds. ×3 + 17.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781100572.67928457 seconds ×3 + 17.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984485 ms (missed cycles : 3). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984485 ms (missed cycles : 3).[0m ×2 + 18.75sWARNcontroller_managerOverrun might occur, Total time : 2152.716 us (Expected < 1666.667 us) --> Read time : 120.073 us, Update time : 1713.444 us, Write time : 319.199 us + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428924 ms (missed cycles : 2). + 18.75sWARNros2_control_nodeOverrun might occur, Total time : 2152.716 us (Expected < 1666.667 us) --> Read time : 120.073 us, Update time : 1713.444 us, Write time : 319.199 us[0m ×2 + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428924 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 75 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991864 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991864 ms (missed cycles : 2).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3848.989 us (Expected < 1666.667 us) --> Read time : 163.404 us, Update time : 113.242 us, Write time : 3572.343 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3848.989 us (Expected < 1666.667 us) --> Read time : 163.404 us, Update time : 113.242 us, Write time : 3572.343 us[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982566 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982566 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 1895.240 us (Expected < 1666.667 us) --> Read time : 91.883 us, Update time : 1538.801 us, Write time : 264.556 us + 2.09sWARNros2_control_nodeOverrun might occur, Total time : 1895.240 us (Expected < 1666.667 us) --> Read time : 91.883 us, Update time : 1538.801 us, Write time : 264.556 us[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017617 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017617 ms (missed cycles : 4).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781100420.86886835 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719390 ms (missed cycles : 6). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719390 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781100421.40460825 seconds. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 2265.959 us (Expected < 1666.667 us) --> Read time : 118.583 us, Update time : 1920.350 us, Write time : 227.026 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 2265.959 us (Expected < 1666.667 us) --> Read time : 118.583 us, Update time : 1920.350 us, Write time : 227.026 us[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063550 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063550 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319251 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319251 ms (missed cycles : 4).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1831.468 us (Expected < 1666.667 us) --> Read time : 90.093 us, Update time : 1565.260 us, Write time : 176.115 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1831.468 us (Expected < 1666.667 us) --> Read time : 90.093 us, Update time : 1565.260 us, Write time : 176.115 us[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562691 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562691 ms (missed cycles : 3).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227065 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227065 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898827 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898827 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun might occur, Total time : 2932.787 us (Expected < 1666.667 us) --> Read time : 119.694 us, Update time : 78.631 us, Write time : 2734.462 us + 9.42sWARNros2_control_nodeOverrun might occur, Total time : 2932.787 us (Expected < 1666.667 us) --> Read time : 119.694 us, Update time : 78.631 us, Write time : 2734.462 us[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506069 ms (missed cycles : 4). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506069 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578566 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578566 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741420 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741420 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun might occur, Total time : 2452.344 us (Expected < 1666.667 us) --> Read time : 105.783 us, Update time : 2124.195 us, Write time : 222.366 us + 11.75sWARNros2_control_nodeOverrun might occur, Total time : 2452.344 us (Expected < 1666.667 us) --> Read time : 105.783 us, Update time : 2124.195 us, Write time : 222.366 us[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251581 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251581 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun might occur, Total time : 2260.869 us (Expected < 1666.667 us) --> Read time : 1945.461 us, Update time : 109.923 us, Write time : 205.485 us + 13.43sWARNros2_control_nodeOverrun might occur, Total time : 2260.869 us (Expected < 1666.667 us) --> Read time : 1945.461 us, Update time : 109.923 us, Write time : 205.485 us[0m ×2 + 13.64sINFOjoint_trajectory_controllerGot request to cancel goal + 13.64sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.64sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.64sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781100431.59942698 seconds ×3 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621131 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621131 ms (missed cycles : 4).[0m ×2 + 14.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781100432.13550735 seconds. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 14.75sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 115.303 us, Update time : 1646.243 us, Write time : 179.324 us + 14.75sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 115.303 us, Update time : 1646.243 us, Write time : 179.324 us[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824748 ms (missed cycles : 5). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824748 ms (missed cycles : 5).[0m ×2 + 15.47sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842607 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842607 ms (missed cycles : 2).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735844 ms (missed cycles : 5). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735844 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 4.5s | 54 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.26sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781100333.08765149 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781100333.63625717 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.18sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.18sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055590 ms (missed cycles : 5). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055590 ms (missed cycles : 5).[0m ×2 + 7.40sWARNcontroller_managerOverrun might occur, Total time : 1868.098 us (Expected < 1666.667 us) --> Read time : 119.413 us, Update time : 122.223 us, Write time : 1626.462 us + 7.40sWARNros2_control_nodeOverrun might occur, Total time : 1868.098 us (Expected < 1666.667 us) --> Read time : 119.413 us, Update time : 122.223 us, Write time : 1626.462 us[0m ×2 + 7.84sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781100337.60637856 seconds ×3 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927871 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927871 ms (missed cycles : 2).[0m ×2 + 8.37sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781100338.13645887 seconds. ×3 + 8.67sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 8.85sWARNcontroller_managerOverrun might occur, Total time : 1872.858 us (Expected < 1666.667 us) --> Read time : 117.713 us, Update time : 1545.580 us, Write time : 209.565 us + 8.85sWARNros2_control_nodeOverrun might occur, Total time : 1872.858 us (Expected < 1666.667 us) --> Read time : 117.713 us, Update time : 1545.580 us, Write time : 209.565 us[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914698 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914698 ms (missed cycles : 3).[0m ×2 + 9.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555521 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555521 ms (missed cycles : 4).[0m ×2 + 10.44sWARNcontroller_managerOverrun might occur, Total time : 1701.836 us (Expected < 1666.667 us) --> Read time : 122.913 us, Update time : 1259.594 us, Write time : 319.329 us + 10.44sWARNros2_control_nodeOverrun might occur, Total time : 1701.836 us (Expected < 1666.667 us) --> Read time : 122.913 us, Update time : 1259.594 us, Write time : 319.329 us[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827643 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827643 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 45 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2281.389 us (Expected < 1666.667 us) --> Read time : 116.673 us, Update time : 1936.260 us, Write time : 228.456 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2281.389 us (Expected < 1666.667 us) --> Read time : 116.673 us, Update time : 1936.260 us, Write time : 228.456 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895221 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895221 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 2133.155 us (Expected < 1666.667 us) --> Read time : 203.315 us, Update time : 1658.583 us, Write time : 271.257 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 2133.155 us (Expected < 1666.667 us) --> Read time : 203.315 us, Update time : 1658.583 us, Write time : 271.257 us[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539045 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539045 ms (missed cycles : 3).[0m ×2 + 2.51sWARNcontroller_managerOverrun might occur, Total time : 3331.076 us (Expected < 1666.667 us) --> Read time : 131.613 us, Update time : 2886.875 us, Write time : 312.588 us + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622616 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun might occur, Total time : 3331.076 us (Expected < 1666.667 us) --> Read time : 131.613 us, Update time : 2886.875 us, Write time : 312.588 us[0m ×2 + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622616 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781100272.92671871 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781100273.46538591 seconds. ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (2.8551e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.74sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.74sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3).[0m ×2 + 6.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781100276.43551016 seconds ×3 + 7.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781100276.97664785 seconds. ×3 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541277 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541277 ms (missed cycles : 3).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679346 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679346 ms (missed cycles : 3).[0m ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732168 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732168 ms (missed cycles : 3).[0m ×2 + 9.90sWARNcontroller_managerOverrun might occur, Total time : 1930.199 us (Expected < 1666.667 us) --> Read time : 115.092 us, Update time : 1567.250 us, Write time : 247.857 us + 9.90sWARNros2_control_nodeOverrun might occur, Total time : 1930.199 us (Expected < 1666.667 us) --> Read time : 115.092 us, Update time : 1567.250 us, Write time : 247.857 us[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 36 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835777 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835777 ms (missed cycles : 4).[0m ×2 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 1768.925 us (Expected < 1666.667 us) --> Read time : 125.243 us, Update time : 1363.585 us, Write time : 280.097 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 1768.925 us (Expected < 1666.667 us) --> Read time : 125.243 us, Update time : 1363.585 us, Write time : 280.097 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224811 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224811 ms (missed cycles : 4).[0m ×2 + 1.72sWARNcontroller_managerOverrun might occur, Total time : 2360.301 us (Expected < 1666.667 us) --> Read time : 118.753 us, Update time : 1997.632 us, Write time : 243.916 us + 1.72sWARNros2_control_nodeOverrun might occur, Total time : 2360.301 us (Expected < 1666.667 us) --> Read time : 118.753 us, Update time : 1997.632 us, Write time : 243.916 us[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020924 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020924 ms (missed cycles : 4).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781100570.82321668 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 1909.790 us (Expected < 1666.667 us) --> Read time : 100.683 us, Update time : 1599.562 us, Write time : 209.545 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 1909.790 us (Expected < 1666.667 us) --> Read time : 100.683 us, Update time : 1599.562 us, Write time : 209.545 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850815 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850815 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781100571.39562774 seconds. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781100571.78575253 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.526281 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.526281 ms (missed cycles : 6).[0m ×2 + 4.20sWARNcontroller_managerOverrun might occur, Total time : 1945.121 us (Expected < 1666.667 us) --> Read time : 131.824 us, Update time : 81.582 us, Write time : 1731.715 us + 4.20sWARNros2_control_nodeOverrun might occur, Total time : 1945.121 us (Expected < 1666.667 us) --> Read time : 131.824 us, Update time : 81.582 us, Write time : 1731.715 us[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781100572.31915402 seconds. ×3 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781100572.67928457 seconds ×3 + 4.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984485 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984485 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun might occur, Total time : 2152.716 us (Expected < 1666.667 us) --> Read time : 120.073 us, Update time : 1713.444 us, Write time : 319.199 us + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428924 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 2152.716 us (Expected < 1666.667 us) --> Read time : 120.073 us, Update time : 1713.444 us, Write time : 319.199 us[0m ×2 + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428924 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 53 warnings · 1356 info |
+ 0.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 0.03sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 0.07sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.07sINFOmove_groupMoveGroup debug mode is ON + 0.07sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10910] ×2 + 0.15sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.15sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.20sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.22sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.23sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.31sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.31sINFOmove_group ×8 + 0.31sINFOmove_group******************************************************** ×4 + 0.31sINFOmove_group* MoveGroup using: ×2 + 0.31sINFOmove_group* - apply_planning_scene_service ×2 + 0.31sINFOmove_group* - clear_octomap_service ×2 + 0.31sINFOmove_group* - ExecuteTaskSolution ×2 + 0.31sINFOmove_group* - get_group_urdf ×2 + 0.31sINFOmove_group* - load_geometry_from_file ×2 + 0.31sINFOmove_group* - get_planning_scene_service ×2 + 0.31sINFOmove_group* - kinematics_service ×2 + 0.31sINFOmove_group* - save_geometry_to_file ×2 + 0.31sINFOmove_group* - GetPlanningGroups ×2 + 0.31sINFOmove_group* - SetActiveControllerService ×2 + 0.31sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.32sINFOmove_group[0m ×2 + 0.32sINFOmove_group[92mYou can start planning now![0m ×2 + 0.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.685] [info] Controller state will be published at 10 Hz. ×2 + 0.44sINFOros2_control_node[2026-06-10 14:03:44.686] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.76sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.76sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.79sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.05sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.05sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.08sINFOplatform_velocity_controller_nav2configure successful + 1.08sINFOros2_control_nodeconfigure successful[0m ×4 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.47sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.47sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.48sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.48sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.48sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.87sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.12sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.12sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.12sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 2.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 2.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.15sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.15sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.15sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 2.16sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 2.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.77sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.79sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 3.12sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 3.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.38sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.40sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.42sINFOplatform_velocity_controllerconfigure successful + 3.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.43sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 4.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.02sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 4.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 4.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.28sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 4.29sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 4.65sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.90sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.93sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.94sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 5.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781100333.08765149 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781100333.63625717 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781100333.08765149 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781100333.63625717 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781100367.96661139 seconds ×3 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781100368.51870918 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 33 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2281.389 us (Expected < 1666.667 us) --> Read time : 116.673 us, Update time : 1936.260 us, Write time : 228.456 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2281.389 us (Expected < 1666.667 us) --> Read time : 116.673 us, Update time : 1936.260 us, Write time : 228.456 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895221 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895221 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 2133.155 us (Expected < 1666.667 us) --> Read time : 203.315 us, Update time : 1658.583 us, Write time : 271.257 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 2133.155 us (Expected < 1666.667 us) --> Read time : 203.315 us, Update time : 1658.583 us, Write time : 271.257 us[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539045 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539045 ms (missed cycles : 3).[0m ×2 + 2.51sWARNcontroller_managerOverrun might occur, Total time : 3331.076 us (Expected < 1666.667 us) --> Read time : 131.613 us, Update time : 2886.875 us, Write time : 312.588 us + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622616 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun might occur, Total time : 3331.076 us (Expected < 1666.667 us) --> Read time : 131.613 us, Update time : 2886.875 us, Write time : 312.588 us[0m ×2 + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622616 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781100272.92671871 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781100273.46538591 seconds. ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (2.8551e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOjoint_trajectory_controllerReceived new action goal + 4.74sINFOjoint_trajectory_controllerAccepted new action goal + 4.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3).[0m ×2 + 6.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781100276.43551016 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 33 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2281.389 us (Expected < 1666.667 us) --> Read time : 116.673 us, Update time : 1936.260 us, Write time : 228.456 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2281.389 us (Expected < 1666.667 us) --> Read time : 116.673 us, Update time : 1936.260 us, Write time : 228.456 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895221 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895221 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 2133.155 us (Expected < 1666.667 us) --> Read time : 203.315 us, Update time : 1658.583 us, Write time : 271.257 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 2133.155 us (Expected < 1666.667 us) --> Read time : 203.315 us, Update time : 1658.583 us, Write time : 271.257 us[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539045 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539045 ms (missed cycles : 3).[0m ×2 + 2.51sWARNcontroller_managerOverrun might occur, Total time : 3331.076 us (Expected < 1666.667 us) --> Read time : 131.613 us, Update time : 2886.875 us, Write time : 312.588 us + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622616 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun might occur, Total time : 3331.076 us (Expected < 1666.667 us) --> Read time : 131.613 us, Update time : 2886.875 us, Write time : 312.588 us[0m ×2 + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622616 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781100272.92671871 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781100273.46538591 seconds. ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (2.8551e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOjoint_trajectory_controllerReceived new action goal + 4.74sINFOjoint_trajectory_controllerAccepted new action goal + 4.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3).[0m ×2 + 6.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781100276.43551016 seconds ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446737 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781100273.46538591 seconds. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705022 ms (missed cycles : 5).[0m ×2 + 1.03sINFOobjective_server_nodeFound path in 0 iterations (2.8551e-05 s). ×2 + 1.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 2085.084 us (Expected < 1666.667 us) --> Read time : 221.766 us, Update time : 199.045 us, Write time : 1664.273 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333530 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841643 ms (missed cycles : 3).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781100276.43551016 seconds ×3 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781100276.97664785 seconds. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541277 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541277 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679346 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679346 ms (missed cycles : 3).[0m ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732168 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732168 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun might occur, Total time : 1930.199 us (Expected < 1666.667 us) --> Read time : 115.092 us, Update time : 1567.250 us, Write time : 247.857 us + 6.21sWARNros2_control_nodeOverrun might occur, Total time : 1930.199 us (Expected < 1666.667 us) --> Read time : 115.092 us, Update time : 1567.250 us, Write time : 247.857 us[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781100333.08765149 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781100333.63625717 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781100333.08765149 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781100333.63625717 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585885 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692575 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.720440 ms (missed cycles : 8).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1678.504 us (Expected < 1666.667 us) --> Read time : 145.124 us, Update time : 1281.073 us, Write time : 252.307 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861007 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781100333.08765149 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1999.932 us (Expected < 1666.667 us) --> Read time : 118.213 us, Update time : 1626.692 us, Write time : 255.027 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781100333.63625717 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219462 ms (missed cycles : 5).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.18sINFOjoint_trajectory_controllerReceived new action goal + 4.18sINFOjoint_trajectory_controllerAccepted new action goal + 4.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1864.358 us (Expected < 1666.667 us) --> Read time : 107.042 us, Update time : 1517.190 us, Write time : 240.126 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263680 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779687 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781100367.96661139 seconds ×3 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781100368.51870918 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2055.843 us (Expected < 1666.667 us) --> Read time : 131.223 us, Update time : 1689.224 us, Write time : 235.396 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482496 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684748 ms (missed cycles : 5).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355849 ms (missed cycles : 4).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 2223.608 us (Expected < 1666.667 us) --> Read time : 136.044 us, Update time : 1799.917 us, Write time : 287.647 us[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781100367.96661139 seconds ×3 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781100368.51870918 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646393 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813270 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 2022.142 us (Expected < 1666.667 us) --> Read time : 103.443 us, Update time : 1698.724 us, Write time : 219.975 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968223 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 53 warnings · 1356 info |
+ 0.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 0.03sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 0.07sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.07sINFOmove_groupMoveGroup debug mode is ON + 0.07sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10910] ×2 + 0.15sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.15sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.20sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.22sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.23sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.31sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.31sINFOmove_group ×8 + 0.31sINFOmove_group******************************************************** ×4 + 0.31sINFOmove_group* MoveGroup using: ×2 + 0.31sINFOmove_group* - apply_planning_scene_service ×2 + 0.31sINFOmove_group* - clear_octomap_service ×2 + 0.31sINFOmove_group* - ExecuteTaskSolution ×2 + 0.31sINFOmove_group* - get_group_urdf ×2 + 0.31sINFOmove_group* - load_geometry_from_file ×2 + 0.31sINFOmove_group* - get_planning_scene_service ×2 + 0.31sINFOmove_group* - kinematics_service ×2 + 0.31sINFOmove_group* - save_geometry_to_file ×2 + 0.31sINFOmove_group* - GetPlanningGroups ×2 + 0.31sINFOmove_group* - SetActiveControllerService ×2 + 0.31sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.32sINFOmove_group[0m ×2 + 0.32sINFOmove_group[92mYou can start planning now![0m ×2 + 0.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.685] [info] Controller state will be published at 10 Hz. ×2 + 0.44sINFOros2_control_node[2026-06-10 14:03:44.686] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.76sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.76sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.79sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.05sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.05sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.08sINFOplatform_velocity_controller_nav2configure successful + 1.08sINFOros2_control_nodeconfigure successful[0m ×4 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.47sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.47sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.48sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.48sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.48sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.87sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.12sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.12sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.12sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 2.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 2.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.15sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.15sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.15sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 2.16sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 2.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.77sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.79sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 3.12sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 3.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.38sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.40sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.42sINFOplatform_velocity_controllerconfigure successful + 3.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.43sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 4.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.02sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 4.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 4.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.28sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 4.29sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 4.65sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.90sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.93sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.94sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 5.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 24 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 24 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 53 warnings · 1356 info |
+ 0.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 0.03sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 0.07sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.07sINFOmove_groupMoveGroup debug mode is ON + 0.07sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10910] ×2 + 0.15sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.15sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.20sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.22sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.23sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.31sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.31sINFOmove_group ×8 + 0.31sINFOmove_group******************************************************** ×4 + 0.31sINFOmove_group* MoveGroup using: ×2 + 0.31sINFOmove_group* - apply_planning_scene_service ×2 + 0.31sINFOmove_group* - clear_octomap_service ×2 + 0.31sINFOmove_group* - ExecuteTaskSolution ×2 + 0.31sINFOmove_group* - get_group_urdf ×2 + 0.31sINFOmove_group* - load_geometry_from_file ×2 + 0.31sINFOmove_group* - get_planning_scene_service ×2 + 0.31sINFOmove_group* - kinematics_service ×2 + 0.31sINFOmove_group* - save_geometry_to_file ×2 + 0.31sINFOmove_group* - GetPlanningGroups ×2 + 0.31sINFOmove_group* - SetActiveControllerService ×2 + 0.31sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.32sINFOmove_group[0m ×2 + 0.32sINFOmove_group[92mYou can start planning now![0m ×2 + 0.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.685] [info] Controller state will be published at 10 Hz. ×2 + 0.44sINFOros2_control_node[2026-06-10 14:03:44.686] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.76sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.76sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.79sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.05sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.05sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.08sINFOplatform_velocity_controller_nav2configure successful + 1.08sINFOros2_control_nodeconfigure successful[0m ×4 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.47sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.47sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.48sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.48sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.48sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.87sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.12sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.12sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.12sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 2.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 2.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.15sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.15sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.15sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 2.16sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 2.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.77sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.79sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 3.12sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 3.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.38sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.40sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.42sINFOplatform_velocity_controllerconfigure successful + 3.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.43sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 4.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.02sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 4.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 4.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.28sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 4.29sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 4.65sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.90sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.93sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.94sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 5.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 24 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 24 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 24 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 24 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 24 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569375 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736854 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.957 us (Expected < 1666.667 us) --> Read time : 108.803 us, Update time : 1437.238 us, Write time : 226.916 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791798 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100503.39565754 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075035 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100503.94123220 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 2172.768 us (Expected < 1666.667 us) --> Read time : 107.693 us, Update time : 1859.919 us, Write time : 205.156 us[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666628 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186368 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 36 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835777 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835777 ms (missed cycles : 4).[0m ×2 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 1768.925 us (Expected < 1666.667 us) --> Read time : 125.243 us, Update time : 1363.585 us, Write time : 280.097 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 1768.925 us (Expected < 1666.667 us) --> Read time : 125.243 us, Update time : 1363.585 us, Write time : 280.097 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224811 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224811 ms (missed cycles : 4).[0m ×2 + 1.72sWARNcontroller_managerOverrun might occur, Total time : 2360.301 us (Expected < 1666.667 us) --> Read time : 118.753 us, Update time : 1997.632 us, Write time : 243.916 us + 1.72sWARNros2_control_nodeOverrun might occur, Total time : 2360.301 us (Expected < 1666.667 us) --> Read time : 118.753 us, Update time : 1997.632 us, Write time : 243.916 us[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020924 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020924 ms (missed cycles : 4).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781100570.82321668 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 1909.790 us (Expected < 1666.667 us) --> Read time : 100.683 us, Update time : 1599.562 us, Write time : 209.545 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 1909.790 us (Expected < 1666.667 us) --> Read time : 100.683 us, Update time : 1599.562 us, Write time : 209.545 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850815 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850815 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781100571.39562774 seconds. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781100571.78575253 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.526281 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.526281 ms (missed cycles : 6).[0m ×2 + 4.20sWARNcontroller_managerOverrun might occur, Total time : 1945.121 us (Expected < 1666.667 us) --> Read time : 131.824 us, Update time : 81.582 us, Write time : 1731.715 us + 4.20sWARNros2_control_nodeOverrun might occur, Total time : 1945.121 us (Expected < 1666.667 us) --> Read time : 131.824 us, Update time : 81.582 us, Write time : 1731.715 us[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781100572.31915402 seconds. ×3 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781100572.67928457 seconds ×3 + 4.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984485 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984485 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun might occur, Total time : 2152.716 us (Expected < 1666.667 us) --> Read time : 120.073 us, Update time : 1713.444 us, Write time : 319.199 us + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428924 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 2152.716 us (Expected < 1666.667 us) --> Read time : 120.073 us, Update time : 1713.444 us, Write time : 319.199 us[0m ×2 + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428924 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
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/__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 | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 17.2s | 55 errors · 688 warnings · 7284 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-10-13-56-36-318609-29cfc6d4821c-9721 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 6.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 6.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 6.99sINFOros2_control_node-8process started with pid [9777] + 6.99sINFOmove_group-20process started with pid [9877] + 6.99sINFOparameter_manager_node-21process started with pid [9879] + 6.99sINFOwaypoint_manager_node-22process started with pid [9882] + 6.99sINFOmove_joint_resampler_node-23process started with pid [9884] + 6.99sINFOmove_end_effector_resampler_node-24process started with pid [9928] + 6.99sINFOobjective_server_node_main-25process started with pid [9945] + 6.99sINFOcomponent_container_mt-26process started with pid [9946] + 6.99sINFOexecute_objective_bridge-27process started with pid [9947] + 6.99sINFOui_teleop_bridge-28process started with pid [9948] + 6.99sINFOweb_bridge-29process started with pid [9949] + 6.99sINFOtf2_web_republisher_node-30process started with pid [9950] + 6.99sINFOweb_video_server-31process started with pid [9951] + 7.01sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 7.01sINFOcomponent_container_isolated-1process started with pid [9770] + 7.01sINFOstatic_transform_publisher-2process started with pid [9771] + 7.01sINFOstatic_transform_publisher-3process started with pid [9772] + 7.01sINFOstatic_transform_publisher-4process started with pid [9773] + 7.02sINFOodom_qos_relay.py-5process started with pid [9774] + 7.02sINFOscan_to_scan_filter_chain-6process started with pid [9775] + 7.02sINFOscan_to_scan_filter_chain-7process started with pid [9776] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9857] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9858] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9859] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9861] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9863] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9865] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9867] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9869] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9870] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9873] + 7.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9875] + 7.15sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×9 + 7.15sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 7.15sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 7.15sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 7.15sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×3 + 7.15sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×3 + 7.15sINFOstatic_transform_publisherfrom 'map' to 'odom' ×3 + 7.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 7.15sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 7.15sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 7.15sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 7.15sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 7.15sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219037 ms (missed cycles : 2).[0m + 7.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 7.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 7.19sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 7.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 7.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 7.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 7.31sINFOcomponent_container_mtRobot initialized[0m ×3 + 7.31sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 7.32sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 7.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 7.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 7.34sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 7.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 7.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 7.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 7.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 7.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 7.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 7.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 7.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 7.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 7.50sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 7.50sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 7.50sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 7.50sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 7.50sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 7.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 7.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 7.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 7.61sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 7.61sINFOmove_groupat line 594 in ./src/model.cpp ×318 + 7.61sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 7.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 7.69sINFOmove_groupat line 589 in ./src/model.cpp ×27 + 7.70sINFOmove_groupLoaded robot model in 0.188897 seconds[0m + 7.70sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 7.70sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 7.74sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×6 + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946131 ms (missed cycles : 2).[0m + 8.02sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.34sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 8.34sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×318 + 8.34sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 8.45sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×27 + 8.45sINFOwaypoint_manager_nodeLoaded robot model in 0.363825 seconds[0m + 8.45sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 8.45sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.74sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 8.74sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×3 + 8.99sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 8.99sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 9.00sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 9.01sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 9.01sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 9.01sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 9.01sINFOmove_groupStarting planning scene monitor[0m ×3 + 9.02sINFOmove_groupListening to '/planning_scene'[0m ×3 + 9.02sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 9.02sINFOmove_groupListening to 'collision_object'[0m ×3 + 9.03sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030552 ms (missed cycles : 2).[0m + 9.51sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 9.51sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 9.52sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 9.54sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 9.54sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 9.55sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 9.55sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 9.55sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 9.55sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 9.55sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 9.55sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 9.55sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 9.55sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 9.55sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 9.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 9.55sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 9.55sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 9.55sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 9.55sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 9.55sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 9.55sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 9.55sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 9.57sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 9.65sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 9.65sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 9.65sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 9.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×3 + 9.68sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 9.68sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 9.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 9.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×3 + 9.96sINFOobjective_server_node[2026-06-10 13:56:48.700] [moveit_pro_license] [info] + 9.96sINFOobjective_server_node************************************************* ×8 + 9.96sINFOobjective_server_node* MoveIt Pro License ×4 + 9.96sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.99sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 9.99sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 10.01sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 10.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9858] + 10.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 10.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 10.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 10.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 10.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×3 + 10.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 10.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 10.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 10.09sINFOros2_control_nodeconfigure successful[0m ×9 + 10.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 10.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×3 + 10.22sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 10.22sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×318 + 10.22sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 10.24sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×27 + 10.25sINFOobjective_server_nodeLoaded robot model in 0.242065 seconds[0m + 10.25sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 10.25sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 10.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 10.25sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756444 ms (missed cycles : 2).[0m + 10.38sWARNros2_control_nodeOverrun might occur, Total time : 1680.463 us (Expected < 1666.667 us) --> Read time : 362.980 us, Update time : 408.620 us, Write time : 908.863 us[0m + 10.42sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.42sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 10.42sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9861] + 10.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×3 + 10.47sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 10.49sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.55sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 10.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 10.56sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 10.56sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×318 + 10.56sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 10.57sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 10.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 10.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 10.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 10.57sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 10.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 10.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 10.58sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×27 + 10.58sINFOcomponent_container_mtLoaded robot model in 0.329741 seconds[0m + 10.58sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 10.58sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 10.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9865] + 10.93sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 11.13sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.13sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 11.14sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 11.15sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 11.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 11.16sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 11.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 11.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×3 + 11.27sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 11.28sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×708 + 11.28sINFOros2_control_nodeat line 594 in ./src/model.cpp ×1272 + 11.28sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×672 + 11.30sINFOros2_control_nodeat line 589 in ./src/model.cpp ×108 + 11.30sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 11.30sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 11.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 11.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 11.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336939 ms (missed cycles : 4).[0m + 11.48sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 11.52sINFOros2_control_node[2026-06-10 13:56:50.266] [info] Controller state will be published at 20 Hz. + 11.52sINFOros2_control_node[2026-06-10 13:56:50.266] [info] JointVelocityController 'on_configure' succeeded. + 11.57sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 11.57sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 11.57sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 11.61sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 11.61sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 11.66sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 11.66sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 11.66sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 11.66sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 11.67sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 11.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 11.72sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 11.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 11.82sINFOmove_group ×12 + 11.82sINFOmove_group******************************************************** ×6 + 11.82sINFOmove_group* MoveGroup using: ×3 + 11.82sINFOmove_group* - apply_planning_scene_service ×3 + 11.82sINFOmove_group* - clear_octomap_service ×3 + 11.82sINFOmove_group* - ExecuteTaskSolution ×3 + 11.82sINFOmove_group* - get_group_urdf ×3 + 11.82sINFOmove_group* - load_geometry_from_file ×3 + 11.82sINFOmove_group* - get_planning_scene_service ×3 + 11.82sINFOmove_group* - kinematics_service ×3 + 11.82sINFOmove_group* - save_geometry_to_file ×3 + 11.82sINFOmove_group* - GetPlanningGroups ×3 + 11.82sINFOmove_group* - SetActiveControllerService ×3 + 11.82sINFOmove_group* - URDFPlanningSceneCapability ×3 + 11.82sINFOmove_group[0m ×3 + 11.83sINFOmove_group[92mYou can start planning now![0m ×3 + 11.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 11.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9875] + 11.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 11.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×3 + 11.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 11.98sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 12.01sWARNros2_control_nodeOverrun might occur, Total time : 1984.570 us (Expected < 1666.667 us) --> Read time : 210.345 us, Update time : 1433.476 us, Write time : 340.749 us[0m + 12.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 12.21sINFOros2_control_node[2026-06-10 13:56:50.959] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.22sINFOros2_control_node[2026-06-10 13:56:50.963] [info] Controller state will be published at 10 Hz. + 12.22sINFOros2_control_node[2026-06-10 13:56:50.965] [info] VelocityForceController 'on_configure' succeeded. + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988903 ms (missed cycles : 2).[0m + 12.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9870] + 12.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 12.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 12.59sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 12.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×3 + 12.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 12.89sINFOros2_control_node[2026-06-10 13:56:51.634] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.89sINFOros2_control_node[2026-06-10 13:56:51.636] [info] Controller state will be published at 10 Hz. + 12.89sINFOros2_control_node[2026-06-10 13:56:51.637] [info] VelocityForceController 'on_configure' succeeded. + 13.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9869] + 13.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 13.49sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 13.49sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 13.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339307 ms (missed cycles : 3).[0m + 13.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×3 + 13.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 13.58sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 13.58sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 13.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 13.58sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 13.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 13.59sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 13.92sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 13.92sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 13.93sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 13.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9867] + 13.95sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 13.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×3 + 13.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 13.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 13.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 13.99sWARNros2_control_nodeOverrun might occur, Total time : 3540.211 us (Expected < 1666.667 us) --> Read time : 76.892 us, Update time : 3272.374 us (Switch time : 3245.494 us (Switch chained mode time : 0.500 us, perform mode change time : 1.630 us, Activation time : 3239.594 us, Deactivation time : 0.360 us)), Write time : 190.945 us[0m + 13.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×3 + 14.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 14.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 14.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 14.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9863] + 14.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×3 + 14.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 14.34sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 14.34sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 14.34sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 14.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 14.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×3 + 14.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×29 + 14.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×29 + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349684 ms (missed cycles : 4).[0m + 14.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9859] + 14.68sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 14.68sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 14.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 14.70sWARNros2_control_nodeOverrun might occur, Total time : 1955.990 us (Expected < 1666.667 us) --> Read time : 1339.615 us, Update time : 261.566 us, Write time : 354.809 us[0m + 14.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×3 + 14.74sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 14.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781099813.67516851 seconds. + 14.93sINFOmove_groupClearing octomap...[0m ×4 + 14.93sINFOmove_groupOctomap cleared.[0m ×4 + 14.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781099813.68540120 seconds + 15.02sINFOros2_control_node[2026-06-10 13:56:53.766] [info] Controller state will be published at 20 Hz. + 15.02sINFOros2_control_node[2026-06-10 13:56:53.766] [info] JointVelocityController 'on_configure' succeeded. + 15.35sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 15.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 15.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pq_i_511 --params-file /tmp/launch_params_97hi69y3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hrg2u97_ --params-file /tmp/launch_params_7831ubqj [0m + 15.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9873] + 15.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×3 + 15.41sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 15.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 15.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×3 + 15.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781099814.22174144 seconds. + 15.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781099814.24189115 seconds + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134336 ms (missed cycles : 4).[0m + 15.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9857] + 16.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781099814.77254820 seconds. + 16.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781099814.92313600 seconds + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343308 ms (missed cycles : 3).[0m + 16.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781099815.48659420 seconds. + 16.75sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 16.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 16.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 16.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 16.77sWARNros2_control_nodeOverrun might occur, Total time : 1934.430 us (Expected < 1666.667 us) --> Read time : 156.794 us, Update time : 65.622 us, Write time : 1712.014 us[0m + 16.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 16.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 16.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 16.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 16.79sWARNros2_control_nodeOverrun might occur, Total time : 3644.923 us (Expected < 1666.667 us) --> Read time : 129.333 us, Update time : 3256.704 us (Switch time : 3203.222 us (Switch chained mode time : 0.610 us, perform mode change time : 3.360 us, Activation time : 3193.492 us, Deactivation time : 0.410 us)), Write time : 258.886 us[0m + 16.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781099815.53673673 seconds + 17.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781099816.07083654 seconds. + 17.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 17.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 17.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 17.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960757 ms (missed cycles : 3).[0m + 18.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×4 + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866907 ms (missed cycles : 2).[0m + 18.81sINFOros2_control_nodeReceived new action goal[0m ×17 + 18.81sINFOros2_control_nodeAccepted new action goal[0m ×17 + 19.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059468 ms (missed cycles : 2).[0m + 20.60sWARNros2_control_nodeOverrun might occur, Total time : 2071.822 us (Expected < 1666.667 us) --> Read time : 270.316 us, Update time : 96.882 us, Write time : 1704.624 us[0m + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769981 ms (missed cycles : 2).[0m + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790181 ms (missed cycles : 2).[0m + 22.80sWARNros2_control_nodeOverrun might occur, Total time : 2201.056 us (Expected < 1666.667 us) --> Read time : 177.834 us, Update time : 1678.603 us, Write time : 344.619 us[0m + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414991 ms (missed cycles : 2).[0m + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235827 ms (missed cycles : 5).[0m + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474103 ms (missed cycles : 3).[0m + 25.04sWARNros2_control_nodeOverrun might occur, Total time : 2911.493 us (Expected < 1666.667 us) --> Read time : 146.374 us, Update time : 155.833 us, Write time : 2609.286 us[0m + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966276 ms (missed cycles : 3).[0m + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958785 ms (missed cycles : 3).[0m + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219409 ms (missed cycles : 2).[0m + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243337 ms (missed cycles : 4).[0m + 29.53sWARNros2_control_nodeOverrun might occur, Total time : 2033.842 us (Expected < 1666.667 us) --> Read time : 193.174 us, Update time : 106.633 us, Write time : 1734.035 us[0m + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946093 ms (missed cycles : 3).[0m + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473950 ms (missed cycles : 3).[0m + 31.79sWARNros2_control_nodeOverrun might occur, Total time : 2158.855 us (Expected < 1666.667 us) --> Read time : 162.994 us, Update time : 1675.693 us, Write time : 320.168 us[0m + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694700 ms (missed cycles : 4).[0m + 33.19sWARNros2_control_nodeOverrun might occur, Total time : 2350.920 us (Expected < 1666.667 us) --> Read time : 163.874 us, Update time : 1892.089 us, Write time : 294.957 us[0m + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244323 ms (missed cycles : 3).[0m + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780035 ms (missed cycles : 2).[0m + 35.24sWARNros2_control_nodeOverrun might occur, Total time : 2302.949 us (Expected < 1666.667 us) --> Read time : 184.105 us, Update time : 441.901 us, Write time : 1676.943 us[0m + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549314 ms (missed cycles : 2).[0m + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681415 ms (missed cycles : 3).[0m + 36.56sWARNros2_control_nodeOverrun might occur, Total time : 5427.769 us (Expected < 1666.667 us) --> Read time : 4931.156 us, Update time : 157.454 us, Write time : 339.159 us[0m + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958694 ms (missed cycles : 4).[0m + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845285 ms (missed cycles : 3).[0m + 38.76sWARNros2_control_nodeOverrun might occur, Total time : 1762.275 us (Expected < 1666.667 us) --> Read time : 177.604 us, Update time : 1246.352 us, Write time : 338.319 us[0m + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247979 ms (missed cycles : 3).[0m + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566286 ms (missed cycles : 4).[0m + 41.05sWARNros2_control_nodeOverrun might occur, Total time : 2569.166 us (Expected < 1666.667 us) --> Read time : 182.045 us, Update time : 130.513 us, Write time : 2256.608 us[0m + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918522 ms (missed cycles : 2).[0m + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344275 ms (missed cycles : 3).[0m + 43.32sWARNros2_control_nodeOverrun might occur, Total time : 2505.174 us (Expected < 1666.667 us) --> Read time : 140.164 us, Update time : 115.383 us, Write time : 2249.627 us[0m + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264703 ms (missed cycles : 5).[0m + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923855 ms (missed cycles : 3).[0m + 45.46sWARNros2_control_nodeOverrun might occur, Total time : 3250.684 us (Expected < 1666.667 us) --> Read time : 374.470 us, Update time : 2590.136 us, Write time : 286.078 us[0m + 45.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539139 ms (missed cycles : 4).[0m + 46.69sWARNros2_control_nodeOverrun might occur, Total time : 3230.302 us (Expected < 1666.667 us) --> Read time : 2745.370 us, Update time : 130.973 us, Write time : 353.959 us[0m + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017685 ms (missed cycles : 2).[0m + 47.81sWARNros2_control_nodeOverrun might occur, Total time : 1688.134 us (Expected < 1666.667 us) --> Read time : 139.494 us, Update time : 102.823 us, Write time : 1445.817 us[0m + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058392 ms (missed cycles : 2).[0m + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223313 ms (missed cycles : 4).[0m + 49.53sWARNros2_control_nodeOverrun might occur, Total time : 2048.343 us (Expected < 1666.667 us) --> Read time : 124.573 us, Update time : 1657.703 us, Write time : 266.067 us[0m + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447838 ms (missed cycles : 2).[0m + 50.64sWARNros2_control_nodeOverrun might occur, Total time : 2739.808 us (Expected < 1666.667 us) --> Read time : 164.234 us, Update time : 2264.637 us, Write time : 310.937 us[0m + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967653 ms (missed cycles : 3).[0m + 51.77sWARNros2_control_nodeOverrun might occur, Total time : 2872.783 us (Expected < 1666.667 us) --> Read time : 155.344 us, Update time : 2440.072 us, Write time : 277.367 us[0m + 51.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327813 ms (missed cycles : 2).[0m + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086003 ms (missed cycles : 4).[0m + 53.13sWARNros2_control_nodeOverrun might occur, Total time : 2881.165 us (Expected < 1666.667 us) --> Read time : 163.024 us, Update time : 2324.420 us, Write time : 393.721 us[0m + 54.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538841 ms (missed cycles : 4).[0m + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803132 ms (missed cycles : 2).[0m + 55.60sWARNros2_control_nodeOverrun might occur, Total time : 2325.960 us (Expected < 1666.667 us) --> Read time : 173.835 us, Update time : 1818.956 us, Write time : 333.169 us[0m + 56.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211215 ms (missed cycles : 5).[0m + 57.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590305 ms (missed cycles : 5).[0m + 57.37sWARNros2_control_nodeOverrun might occur, Total time : 2491.164 us (Expected < 1666.667 us) --> Read time : 117.093 us, Update time : 2040.142 us, Write time : 333.929 us[0m + 58.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585241 ms (missed cycles : 2).[0m + 58.51sWARNros2_control_nodeOverrun might occur, Total time : 3893.340 us (Expected < 1666.667 us) --> Read time : 168.595 us, Update time : 3444.938 us, Write time : 279.807 us[0m + 59.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956223 ms (missed cycles : 3).[0m + 60.10sWARNros2_control_nodeOverrun might occur, Total time : 2283.839 us (Expected < 1666.667 us) --> Read time : 153.184 us, Update time : 115.483 us, Write time : 2015.172 us[0m + 60.48sINFOros2_control_nodeGoal reached, success![0m ×15 + 60.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404036 ms (missed cycles : 3).[0m + 60.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781099859.26243472 seconds + 61.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781099859.79667068 seconds. + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761712 ms (missed cycles : 3).[0m + 61.85sINFOobjective_server_nodeFound path in 0 iterations (2.9161e-05 s). + 61.85sINFOobjective_server_nodePath shortcutter: [X____X] + 61.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 62.09sWARNros2_control_nodeOverrun might occur, Total time : 2951.506 us (Expected < 1666.667 us) --> Read time : 166.384 us, Update time : 403.441 us, Write time : 2381.681 us[0m + 62.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921701 ms (missed cycles : 3).[0m + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855897 ms (missed cycles : 2).[0m + 63.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781099862.72681165 seconds + 64.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781099863.26557946 seconds. + 64.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171153 ms (missed cycles : 2).[0m + 64.83sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 65.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624528 ms (missed cycles : 6).[0m + 65.98sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 66.27sWARNros2_control_nodeOverrun might occur, Total time : 7276.137 us (Expected < 1666.667 us) --> Read time : 103.012 us, Update time : 62.012 us, Write time : 7111.113 us[0m + 66.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317238 ms (missed cycles : 2).[0m + 67.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501115 ms (missed cycles : 3).[0m + 68.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355754 ms (missed cycles : 4).[0m + 69.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094882 ms (missed cycles : 2).[0m + 70.82sWARNros2_control_nodeOverrun might occur, Total time : 1689.844 us (Expected < 1666.667 us) --> Read time : 135.764 us, Update time : 1287.183 us, Write time : 266.897 us[0m + 70.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481389 ms (missed cycles : 2).[0m + 72.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625172 ms (missed cycles : 3).[0m + 73.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848066 ms (missed cycles : 2).[0m + 74.04sWARNros2_control_nodeOverrun might occur, Total time : 1793.096 us (Expected < 1666.667 us) --> Read time : 144.783 us, Update time : 1390.166 us, Write time : 258.147 us[0m + 74.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968719 ms (missed cycles : 2).[0m + 75.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249741 ms (missed cycles : 4).[0m + 76.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777887 ms (missed cycles : 5).[0m + 77.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114525 ms (missed cycles : 5).[0m + 78.24sWARNros2_control_nodeOverrun might occur, Total time : 1863.018 us (Expected < 1666.667 us) --> Read time : 124.384 us, Update time : 1457.627 us, Write time : 281.007 us[0m + 78.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979167 ms (missed cycles : 2).[0m + 79.29sWARNros2_control_nodeOverrun might occur, Total time : 3827.350 us (Expected < 1666.667 us) --> Read time : 122.714 us, Update time : 3402.658 us, Write time : 301.978 us[0m + 79.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012484 ms (missed cycles : 2).[0m + 79.57sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m + 80.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836241 ms (missed cycles : 3).[0m + 81.08sWARNros2_control_nodeOverrun might occur, Total time : 1843.997 us (Expected < 1666.667 us) --> Read time : 1406.546 us, Update time : 146.014 us, Write time : 291.437 us[0m + 81.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812772 ms (missed cycles : 3).[0m + 82.38sWARNros2_control_nodeOverrun might occur, Total time : 3382.986 us (Expected < 1666.667 us) --> Read time : 96.582 us, Update time : 3024.678 us, Write time : 261.726 us[0m + 82.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369836 ms (missed cycles : 5).[0m + 83.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813111 ms (missed cycles : 5).[0m + 83.61sWARNros2_control_nodeOverrun might occur, Total time : 3350.216 us (Expected < 1666.667 us) --> Read time : 147.933 us, Update time : 349.599 us, Write time : 2852.684 us[0m + 84.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745684 ms (missed cycles : 3).[0m + 85.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380317 ms (missed cycles : 3).[0m + 86.27sWARNros2_control_nodeOverrun might occur, Total time : 1784.877 us (Expected < 1666.667 us) --> Read time : 110.914 us, Update time : 1449.108 us, Write time : 224.855 us[0m + 86.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822606 ms (missed cycles : 3).[0m + 87.45sWARNros2_control_nodeOverrun might occur, Total time : 1821.137 us (Expected < 1666.667 us) --> Read time : 173.934 us, Update time : 1324.585 us, Write time : 322.618 us[0m + 87.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074088 ms (missed cycles : 3).[0m + 88.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794287 ms (missed cycles : 5).[0m + 89.15sWARNros2_control_nodeOverrun might occur, Total time : 1986.812 us (Expected < 1666.667 us) --> Read time : 143.594 us, Update time : 1574.211 us, Write time : 269.007 us[0m + 89.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932867 ms (missed cycles : 3).[0m + 90.34sWARNros2_control_nodeOverrun might occur, Total time : 1949.610 us (Expected < 1666.667 us) --> Read time : 122.093 us, Update time : 1540.200 us, Write time : 287.317 us[0m + 90.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028081 ms (missed cycles : 4).[0m + 91.64sWARNros2_control_nodeOverrun might occur, Total time : 3257.904 us (Expected < 1666.667 us) --> Read time : 120.233 us, Update time : 2852.473 us, Write time : 285.198 us[0m + 91.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242100 ms (missed cycles : 2).[0m + 92.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056829 ms (missed cycles : 2).[0m + 93.86sWARNros2_control_nodeOverrun might occur, Total time : 5208.614 us (Expected < 1666.667 us) --> Read time : 123.903 us, Update time : 4769.643 us, Write time : 315.068 us[0m + 93.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736955 ms (missed cycles : 4).[0m + 94.73sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 + 94.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019320 ms (missed cycles : 3).[0m + 96.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947303 ms (missed cycles : 3).[0m + 96.83sWARNros2_control_nodeOverrun might occur, Total time : 2394.090 us (Expected < 1666.667 us) --> Read time : 96.252 us, Update time : 2060.042 us, Write time : 237.796 us[0m + 97.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291487 ms (missed cycles : 4).[0m + 98.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047323 ms (missed cycles : 2).[0m + 99.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056012 ms (missed cycles : 4).[0m + 99.93sWARNros2_control_nodeOverrun might occur, Total time : 2425.203 us (Expected < 1666.667 us) --> Read time : 138.044 us, Update time : 2028.072 us, Write time : 259.087 us[0m +100.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942637 ms (missed cycles : 2).[0m +101.06sWARNros2_control_nodeOverrun might occur, Total time : 1739.265 us (Expected < 1666.667 us) --> Read time : 1348.664 us, Update time : 127.584 us, Write time : 263.017 us[0m +101.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902302 ms (missed cycles : 3).[0m +102.11sWARNros2_control_nodeOverrun might occur, Total time : 2095.843 us (Expected < 1666.667 us) --> Read time : 1677.303 us, Update time : 143.363 us, Write time : 275.177 us[0m +102.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880296 ms (missed cycles : 3).[0m +103.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283193 ms (missed cycles : 2).[0m +104.14sWARNros2_control_nodeOverrun might occur, Total time : 1812.786 us (Expected < 1666.667 us) --> Read time : 192.995 us, Update time : 1372.875 us, Write time : 246.916 us[0m +104.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118895 ms (missed cycles : 4).[0m +105.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176080 ms (missed cycles : 2).[0m +106.40sWARNros2_control_nodeOverrun might occur, Total time : 6730.643 us (Expected < 1666.667 us) --> Read time : 95.242 us, Update time : 66.802 us, Write time : 6568.599 us[0m +106.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177381 ms (missed cycles : 3).[0m +107.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918981 ms (missed cycles : 3).[0m +108.51sWARNros2_control_nodeOverrun might occur, Total time : 5045.099 us (Expected < 1666.667 us) --> Read time : 107.233 us, Update time : 4544.726 us, Write time : 393.140 us[0m +108.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733138 ms (missed cycles : 3).[0m +109.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952454 ms (missed cycles : 3).[0m +110.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919426 ms (missed cycles : 4).[0m +111.49sWARNros2_control_nodeOverrun might occur, Total time : 2404.312 us (Expected < 1666.667 us) --> Read time : 105.933 us, Update time : 2040.922 us, Write time : 257.457 us[0m +111.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661834 ms (missed cycles : 3).[0m +112.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739194 ms (missed cycles : 3).[0m +113.20sWARNros2_control_nodeOverrun might occur, Total time : 2989.926 us (Expected < 1666.667 us) --> Read time : 188.474 us, Update time : 2520.585 us, Write time : 280.867 us[0m +113.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589722 ms (missed cycles : 4).[0m +114.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242943 ms (missed cycles : 3).[0m +115.60sWARNros2_control_nodeOverrun might occur, Total time : 3006.748 us (Expected < 1666.667 us) --> Read time : 138.334 us, Update time : 102.233 us, Write time : 2766.181 us[0m +115.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546830 ms (missed cycles : 4).[0m +116.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.196274 ms (missed cycles : 8).[0m +117.14sWARNros2_control_nodeOverrun might occur, Total time : 1825.446 us (Expected < 1666.667 us) --> Read time : 144.603 us, Update time : 177.475 us, Write time : 1503.368 us[0m +118.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224778 ms (missed cycles : 3).[0m +119.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937682 ms (missed cycles : 3).[0m +120.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105536 ms (missed cycles : 2).[0m +120.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781099919.29618883 seconds +120.63sWARNros2_control_nodeOverrun might occur, Total time : 2111.104 us (Expected < 1666.667 us) --> Read time : 141.194 us, Update time : 1705.344 us, Write time : 264.566 us[0m +121.09sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781099919.83587670 seconds. +121.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064804 ms (missed cycles : 2).[0m +121.41sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 +121.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +122.21sWARNros2_control_nodeOverrun might occur, Total time : 1826.558 us (Expected < 1666.667 us) --> Read time : 153.344 us, Update time : 103.733 us, Write time : 1569.481 us[0m +122.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005999 ms (missed cycles : 2).[0m +123.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976569 ms (missed cycles : 3).[0m +123.63sWARNros2_control_nodeOverrun might occur, Total time : 2239.188 us (Expected < 1666.667 us) --> Read time : 148.384 us, Update time : 264.147 us, Write time : 1826.657 us[0m +124.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596920 ms (missed cycles : 3).[0m +124.93sWARNros2_control_nodeOverrun might occur, Total time : 1887.888 us (Expected < 1666.667 us) --> Read time : 132.043 us, Update time : 187.615 us, Write time : 1568.230 us[0m +125.06sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781099923.80602050 seconds +125.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409988 ms (missed cycles : 2).[0m +125.59sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781099924.33579946 seconds. +125.98sWARNros2_control_nodeOverrun might occur, Total time : 2673.649 us (Expected < 1666.667 us) --> Read time : 151.394 us, Update time : 2223.627 us, Write time : 298.628 us[0m +126.08sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). +126.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819672 ms (missed cycles : 5).[0m +127.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +127.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799892 ms (missed cycles : 2).[0m +128.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231683 ms (missed cycles : 4).[0m +129.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761621 ms (missed cycles : 3).[0m +130.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294056 ms (missed cycles : 4).[0m +131.56sWARNros2_control_nodeOverrun might occur, Total time : 3098.249 us (Expected < 1666.667 us) --> Read time : 150.493 us, Update time : 99.763 us, Write time : 2847.993 us[0m +131.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341544 ms (missed cycles : 4).[0m +132.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075431 ms (missed cycles : 5).[0m +133.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662938 ms (missed cycles : 2).[0m +133.89sWARNros2_control_nodeOverrun might occur, Total time : 1675.603 us (Expected < 1666.667 us) --> Read time : 107.573 us, Update time : 1357.725 us, Write time : 210.305 us[0m +134.90sWARNros2_control_nodeOverrun might occur, Total time : 2002.501 us (Expected < 1666.667 us) --> Read time : 153.204 us, Update time : 1539.649 us, Write time : 309.648 us[0m +134.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634881 ms (missed cycles : 2).[0m +135.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370129 ms (missed cycles : 2).[0m +136.04sWARNros2_control_nodeOverrun might occur, Total time : 1962.979 us (Expected < 1666.667 us) --> Read time : 127.543 us, Update time : 403.250 us, Write time : 1432.186 us[0m +137.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374513 ms (missed cycles : 4).[0m +137.33sWARNros2_control_nodeOverrun might occur, Total time : 2235.707 us (Expected < 1666.667 us) --> Read time : 126.333 us, Update time : 1712.044 us, Write time : 397.330 us[0m +138.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962924 ms (missed cycles : 2).[0m +138.89sWARNros2_control_nodeOverrun might occur, Total time : 3871.110 us (Expected < 1666.667 us) --> Read time : 177.455 us, Update time : 111.983 us, Write time : 3581.672 us[0m +139.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481278 ms (missed cycles : 3).[0m +139.58sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m +140.13sWARNros2_control_nodeOverrun might occur, Total time : 3615.073 us (Expected < 1666.667 us) --> Read time : 141.933 us, Update time : 3130.521 us, Write time : 342.619 us[0m +140.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823804 ms (missed cycles : 5).[0m +141.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986084 ms (missed cycles : 3).[0m +141.46sWARNros2_control_nodeOverrun might occur, Total time : 4989.427 us (Expected < 1666.667 us) --> Read time : 177.524 us, Update time : 116.152 us, Write time : 4695.751 us[0m +142.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884589 ms (missed cycles : 3).[0m +143.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551895 ms (missed cycles : 5).[0m +144.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450216 ms (missed cycles : 4).[0m +145.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332146 ms (missed cycles : 4).[0m +146.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849798 ms (missed cycles : 5).[0m +146.63sWARNros2_control_nodeOverrun might occur, Total time : 2885.995 us (Expected < 1666.667 us) --> Read time : 141.753 us, Update time : 2449.524 us, Write time : 294.718 us[0m +147.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225492 ms (missed cycles : 2).[0m +148.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128955 ms (missed cycles : 2).[0m +148.81sWARNros2_control_nodeOverrun might occur, Total time : 2971.606 us (Expected < 1666.667 us) --> Read time : 147.324 us, Update time : 2491.473 us, Write time : 332.809 us[0m +149.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922448 ms (missed cycles : 6).[0m +150.33sWARNros2_control_nodeOverrun might occur, Total time : 2033.722 us (Expected < 1666.667 us) --> Read time : 142.153 us, Update time : 119.433 us, Write time : 1772.136 us[0m +150.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843521 ms (missed cycles : 4).[0m +151.34sWARNros2_control_nodeOverrun might occur, Total time : 2444.833 us (Expected < 1666.667 us) --> Read time : 147.784 us, Update time : 136.934 us, Write time : 2160.115 us[0m +151.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002460 ms (missed cycles : 4).[0m +152.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757048 ms (missed cycles : 4).[0m +153.37sWARNros2_control_nodeOverrun might occur, Total time : 5875.111 us (Expected < 1666.667 us) --> Read time : 122.143 us, Update time : 78.802 us, Write time : 5674.166 us[0m +153.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713331 ms (missed cycles : 2).[0m +154.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383779 ms (missed cycles : 3).[0m +155.10sWARNros2_control_nodeOverrun might occur, Total time : 1963.191 us (Expected < 1666.667 us) --> Read time : 136.544 us, Update time : 1577.621 us, Write time : 249.026 us[0m +155.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781099954.59594154 seconds +155.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738170 ms (missed cycles : 2).[0m +156.30sWARNros2_control_nodeOverrun might occur, Total time : 4165.056 us (Expected < 1666.667 us) --> Read time : 129.283 us, Update time : 445.731 us, Write time : 3590.042 us[0m +156.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781099955.13598585 seconds. +156.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015367 ms (missed cycles : 3).[0m +157.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +158.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538828 ms (missed cycles : 4).[0m +159.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.754083 ms (missed cycles : 5).[0m +160.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361402 ms (missed cycles : 3).[0m +161.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246832 ms (missed cycles : 3).[0m +162.28sWARNros2_control_nodeOverrun might occur, Total time : 2920.205 us (Expected < 1666.667 us) --> Read time : 128.354 us, Update time : 121.523 us, Write time : 2670.328 us[0m +162.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178244 ms (missed cycles : 2).[0m +163.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050005 ms (missed cycles : 3).[0m +164.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551116 ms (missed cycles : 3).[0m +164.62sWARNros2_control_nodeOverrun might occur, Total time : 2623.597 us (Expected < 1666.667 us) --> Read time : 122.773 us, Update time : 2173.365 us, Write time : 327.459 us[0m +165.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043855 ms (missed cycles : 3).[0m +165.64sWARNros2_control_nodeOverrun might occur, Total time : 4685.591 us (Expected < 1666.667 us) --> Read time : 129.933 us, Update time : 4174.728 us, Write time : 380.930 us[0m +166.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488429 ms (missed cycles : 2).[0m +166.89sWARNros2_control_nodeOverrun might occur, Total time : 1818.127 us (Expected < 1666.667 us) --> Read time : 1140.709 us, Update time : 394.400 us, Write time : 283.018 us[0m +167.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.418332 ms (missed cycles : 6).[0m +168.24sWARNros2_control_nodeOverrun might occur, Total time : 2043.194 us (Expected < 1666.667 us) --> Read time : 190.805 us, Update time : 1532.460 us, Write time : 319.929 us[0m +168.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266205 ms (missed cycles : 2).[0m +169.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647683 ms (missed cycles : 4).[0m +169.95sWARNros2_control_nodeOverrun might occur, Total time : 2279.267 us (Expected < 1666.667 us) --> Read time : 111.843 us, Update time : 1908.678 us, Write time : 258.746 us[0m +170.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770194 ms (missed cycles : 2).[0m +171.37sWARNros2_control_nodeOverrun might occur, Total time : 3561.941 us (Expected < 1666.667 us) --> Read time : 147.474 us, Update time : 3049.068 us, Write time : 365.399 us[0m +171.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276937 ms (missed cycles : 2).[0m +172.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690432 ms (missed cycles : 5).[0m +173.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702190 ms (missed cycles : 2).[0m +174.14sWARNros2_control_nodeOverrun might occur, Total time : 1957.830 us (Expected < 1666.667 us) --> Read time : 141.633 us, Update time : 1507.529 us, Write time : 308.668 us[0m +174.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913460 ms (missed cycles : 3).[0m +175.58sWARNros2_control_nodeOverrun might occur, Total time : 1860.398 us (Expected < 1666.667 us) --> Read time : 141.403 us, Update time : 1442.738 us, Write time : 276.257 us[0m +175.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426091 ms (missed cycles : 4).[0m +176.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688683 ms (missed cycles : 2).[0m +177.57sWARNros2_control_nodeOverrun might occur, Total time : 2674.160 us (Expected < 1666.667 us) --> Read time : 103.213 us, Update time : 92.843 us, Write time : 2478.104 us[0m +177.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076452 ms (missed cycles : 2).[0m +178.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558391 ms (missed cycles : 3).[0m +179.34sWARNros2_control_nodeOverrun might occur, Total time : 2034.012 us (Expected < 1666.667 us) --> Read time : 129.744 us, Update time : 1620.101 us, Write time : 284.167 us[0m +179.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910672 ms (missed cycles : 6).[0m +180.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213290 ms (missed cycles : 2).[0m +181.53sWARNros2_control_nodeOverrun might occur, Total time : 4930.047 us (Expected < 1666.667 us) --> Read time : 175.304 us, Update time : 4397.714 us, Write time : 357.029 us[0m +181.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645844 ms (missed cycles : 4).[0m +182.86sWARNros2_control_nodeOverrun might occur, Total time : 2982.216 us (Expected < 1666.667 us) --> Read time : 126.603 us, Update time : 2580.576 us, Write time : 275.037 us[0m +183.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.616035 ms (missed cycles : 7).[0m +184.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145107 ms (missed cycles : 3).[0m +184.29sWARNros2_control_nodeOverrun might occur, Total time : 2216.567 us (Expected < 1666.667 us) --> Read time : 129.954 us, Update time : 1802.516 us, Write time : 284.097 us[0m +185.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855859 ms (missed cycles : 2).[0m +186.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333711 ms (missed cycles : 3).[0m +186.65sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +186.72sWARNros2_control_nodeOverrun might occur, Total time : 4018.012 us (Expected < 1666.667 us) --> Read time : 183.604 us, Update time : 3427.068 us, Write time : 407.340 us[0m +187.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677393 ms (missed cycles : 5).[0m +187.28sINFOobjective_server_nodePlanning for 49 path waypoints. +187.73sWARNros2_control_nodeOverrun might occur, Total time : 3817.848 us (Expected < 1666.667 us) --> Read time : 462.982 us, Update time : 3040.518 us, Write time : 314.348 us[0m +188.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851874 ms (missed cycles : 2).[0m +189.10sWARNros2_control_nodeOverrun might occur, Total time : 1708.094 us (Expected < 1666.667 us) --> Read time : 1297.874 us, Update time : 133.883 us, Write time : 276.337 us[0m +189.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398049 ms (missed cycles : 4).[0m +190.13sWARNros2_control_nodeOverrun might occur, Total time : 4019.623 us (Expected < 1666.667 us) --> Read time : 113.323 us, Update time : 3553.451 us, Write time : 352.849 us[0m +190.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105463 ms (missed cycles : 4).[0m +191.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908142 ms (missed cycles : 2).[0m +191.57sWARNros2_control_nodeOverrun might occur, Total time : 2002.442 us (Expected < 1666.667 us) --> Read time : 144.784 us, Update time : 1516.399 us, Write time : 341.259 us[0m +192.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814409 ms (missed cycles : 5).[0m +193.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.909305 ms (missed cycles : 6).[0m +193.86sWARNros2_control_nodeOverrun might occur, Total time : 2130.515 us (Expected < 1666.667 us) --> Read time : 127.814 us, Update time : 1166.289 us, Write time : 836.412 us[0m +194.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348504 ms (missed cycles : 6).[0m +194.95sWARNros2_control_nodeOverrun might occur, Total time : 4260.960 us (Expected < 1666.667 us) --> Read time : 197.635 us, Update time : 3765.437 us, Write time : 297.888 us[0m +195.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184586 ms (missed cycles : 4).[0m +196.41sWARNros2_control_nodeOverrun might occur, Total time : 3145.810 us (Expected < 1666.667 us) --> Read time : 155.434 us, Update time : 2700.849 us, Write time : 289.527 us[0m +196.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349049 ms (missed cycles : 4).[0m +197.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745885 ms (missed cycles : 2).[0m +197.67sWARNros2_control_nodeOverrun might occur, Total time : 2202.587 us (Expected < 1666.667 us) --> Read time : 138.314 us, Update time : 1790.996 us, Write time : 273.277 us[0m +198.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014237 ms (missed cycles : 3).[0m +198.96sWARNros2_control_nodeOverrun might occur, Total time : 8708.723 us (Expected < 1666.667 us) --> Read time : 104.843 us, Update time : 8266.042 us, Write time : 337.838 us[0m +199.59sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m +199.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684784 ms (missed cycles : 4).[0m +199.98sWARNros2_control_nodeOverrun might occur, Total time : 1817.047 us (Expected < 1666.667 us) --> Read time : 124.864 us, Update time : 1374.395 us, Write time : 317.788 us[0m +200.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159903 ms (missed cycles : 2).[0m +201.77sWARNros2_control_nodeOverrun might occur, Total time : 2534.724 us (Expected < 1666.667 us) --> Read time : 132.873 us, Update time : 325.188 us, Write time : 2076.663 us[0m +201.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010869 ms (missed cycles : 2).[0m +202.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353719 ms (missed cycles : 3).[0m +203.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.045122 ms (missed cycles : 7).[0m +204.07sWARNros2_control_nodeOverrun might occur, Total time : 2337.720 us (Expected < 1666.667 us) --> Read time : 119.263 us, Update time : 1884.768 us, Write time : 333.689 us[0m +204.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025877 ms (missed cycles : 4).[0m +205.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373810 ms (missed cycles : 4).[0m +206.21sWARNros2_control_nodeOverrun might occur, Total time : 1987.191 us (Expected < 1666.667 us) --> Read time : 136.304 us, Update time : 1588.170 us, Write time : 262.717 us[0m +206.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391888 ms (missed cycles : 3).[0m +207.83sWARNros2_control_nodeOverrun might occur, Total time : 2172.586 us (Expected < 1666.667 us) --> Read time : 135.833 us, Update time : 130.114 us, Write time : 1906.639 us[0m +208.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158614 ms (missed cycles : 4).[0m +209.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647321 ms (missed cycles : 7).[0m +210.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670247 ms (missed cycles : 2).[0m +211.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881457 ms (missed cycles : 2).[0m +211.10sWARNros2_control_nodeOverrun might occur, Total time : 5252.085 us (Expected < 1666.667 us) --> Read time : 142.403 us, Update time : 4804.794 us, Write time : 304.888 us[0m +212.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418532 ms (missed cycles : 2).[0m +212.50sWARNros2_control_nodeOverrun might occur, Total time : 2847.223 us (Expected < 1666.667 us) --> Read time : 161.294 us, Update time : 2372.651 us, Write time : 313.278 us[0m +213.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954805 ms (missed cycles : 3).[0m +213.96sWARNros2_control_nodeOverrun might occur, Total time : 1715.795 us (Expected < 1666.667 us) --> Read time : 183.225 us, Update time : 138.004 us, Write time : 1394.566 us[0m +214.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.265029 ms (missed cycles : 8).[0m +215.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727156 ms (missed cycles : 3).[0m +215.22sWARNros2_control_nodeOverrun might occur, Total time : 2627.348 us (Expected < 1666.667 us) --> Read time : 132.634 us, Update time : 2199.126 us, Write time : 295.588 us[0m +216.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385043 ms (missed cycles : 4).[0m +217.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016089 ms (missed cycles : 2).[0m +217.50sWARNros2_control_nodeOverrun might occur, Total time : 3474.220 us (Expected < 1666.667 us) --> Read time : 151.864 us, Update time : 3054.409 us, Write time : 267.947 us[0m +218.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014968 ms (missed cycles : 3).[0m +218.80sWARNros2_control_nodeOverrun might occur, Total time : 2009.362 us (Expected < 1666.667 us) --> Read time : 134.464 us, Update time : 1547.030 us, Write time : 327.868 us[0m +219.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396758 ms (missed cycles : 4).[0m +220.19sWARNros2_control_nodeOverrun might occur, Total time : 3424.559 us (Expected < 1666.667 us) --> Read time : 177.865 us, Update time : 2894.914 us, Write time : 351.780 us[0m +220.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319167 ms (missed cycles : 5).[0m +221.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.354592 ms (missed cycles : 9).[0m +222.00sWARNros2_control_nodeOverrun might occur, Total time : 1675.393 us (Expected < 1666.667 us) --> Read time : 114.863 us, Update time : 1322.704 us, Write time : 237.826 us[0m +222.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612598 ms (missed cycles : 3).[0m +223.38sWARNros2_control_nodeOverrun might occur, Total time : 2443.463 us (Expected < 1666.667 us) --> Read time : 125.243 us, Update time : 1997.631 us, Write time : 320.589 us[0m +223.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383739 ms (missed cycles : 4).[0m +224.83sWARNros2_control_nodeOverrun might occur, Total time : 3839.188 us (Expected < 1666.667 us) --> Read time : 184.525 us, Update time : 135.713 us, Write time : 3518.950 us[0m +224.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749942 ms (missed cycles : 3).[0m +225.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795140 ms (missed cycles : 2).[0m +226.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319472 ms (missed cycles : 5).[0m +227.13sWARNros2_control_nodeOverrun might occur, Total time : 4496.535 us (Expected < 1666.667 us) --> Read time : 154.264 us, Update time : 4058.824 us, Write time : 283.447 us[0m +227.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177419 ms (missed cycles : 5).[0m +228.49sWARNros2_control_nodeOverrun might occur, Total time : 1769.795 us (Expected < 1666.667 us) --> Read time : 117.053 us, Update time : 1372.935 us, Write time : 279.807 us[0m +229.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.999190 ms (missed cycles : 5).[0m +230.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970527 ms (missed cycles : 2).[0m +230.73sWARNros2_control_nodeOverrun might occur, Total time : 1722.394 us (Expected < 1666.667 us) --> Read time : 125.083 us, Update time : 1357.845 us, Write time : 239.466 us[0m +231.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513908 ms (missed cycles : 3).[0m +232.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473321 ms (missed cycles : 4).[0m +232.27sWARNros2_control_nodeOverrun might occur, Total time : 1751.196 us (Expected < 1666.667 us) --> Read time : 131.064 us, Update time : 1366.745 us, Write time : 253.387 us[0m +233.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612382 ms (missed cycles : 4).[0m +233.81sWARNros2_control_nodeOverrun might occur, Total time : 1868.098 us (Expected < 1666.667 us) --> Read time : 120.173 us, Update time : 1311.694 us, Write time : 436.231 us[0m +234.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154033 ms (missed cycles : 2).[0m +234.86sWARNros2_control_nodeOverrun might occur, Total time : 3373.617 us (Expected < 1666.667 us) --> Read time : 347.949 us, Update time : 393.250 us, Write time : 2632.418 us[0m +235.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834229 ms (missed cycles : 4).[0m +236.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910903 ms (missed cycles : 3).[0m +236.21sWARNros2_control_nodeOverrun might occur, Total time : 4250.889 us (Expected < 1666.667 us) --> Read time : 147.384 us, Update time : 3740.926 us, Write time : 362.579 us[0m +237.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.938432 ms (missed cycles : 6).[0m +237.81sWARNros2_control_nodeOverrun might occur, Total time : 2902.575 us (Expected < 1666.667 us) --> Read time : 162.024 us, Update time : 2391.042 us, Write time : 349.509 us[0m +238.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703232 ms (missed cycles : 4).[0m +239.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.024967 ms (missed cycles : 8).[0m +240.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232039 ms (missed cycles : 2).[0m +241.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008985 ms (missed cycles : 6).[0m +242.18sWARNros2_control_nodeOverrun might occur, Total time : 3159.391 us (Expected < 1666.667 us) --> Read time : 130.073 us, Update time : 2719.320 us, Write time : 309.998 us[0m +242.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937493 ms (missed cycles : 3).[0m +243.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749210 ms (missed cycles : 2).[0m +243.45sWARNros2_control_nodeOverrun might occur, Total time : 2085.914 us (Expected < 1666.667 us) --> Read time : 284.218 us, Update time : 388.940 us, Write time : 1412.756 us[0m +244.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.302084 ms (missed cycles : 8).[0m +244.90sWARNros2_control_nodeOverrun might occur, Total time : 2316.990 us (Expected < 1666.667 us) --> Read time : 119.263 us, Update time : 1833.667 us, Write time : 364.060 us[0m +245.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100515 ms (missed cycles : 4).[0m +246.43sWARNros2_control_nodeOverrun might occur, Total time : 3654.675 us (Expected < 1666.667 us) --> Read time : 155.955 us, Update time : 167.235 us, Write time : 3331.485 us[0m +246.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953062 ms (missed cycles : 2).[0m +246.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 +246.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +247.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1781100045.74846244 seconds +247.03sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781100045.77061868 seconds. +247.33sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). ×2 +247.44sWARNros2_control_nodeOverrun might occur, Total time : 3543.331 us (Expected < 1666.667 us) --> Read time : 108.663 us, Update time : 3138.161 us, Write time : 296.507 us[0m +247.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136579 ms (missed cycles : 4).[0m +248.26sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +248.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783323 ms (missed cycles : 2).[0m +248.81sWARNros2_control_nodeOverrun might occur, Total time : 4142.296 us (Expected < 1666.667 us) --> Read time : 132.853 us, Update time : 3732.096 us, Write time : 277.347 us[0m +249.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128434 ms (missed cycles : 3).[0m +250.01sWARNros2_control_nodeOverrun might occur, Total time : 2254.758 us (Expected < 1666.667 us) --> Read time : 101.653 us, Update time : 1935.509 us, Write time : 217.596 us[0m +250.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690425 ms (missed cycles : 4).[0m +251.02sWARNros2_control_nodeOverrun might occur, Total time : 2248.457 us (Expected < 1666.667 us) --> Read time : 126.133 us, Update time : 1819.776 us, Write time : 302.548 us[0m +251.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607817 ms (missed cycles : 5).[0m +252.16sWARNros2_control_nodeOverrun might occur, Total time : 1978.160 us (Expected < 1666.667 us) --> Read time : 1553.480 us, Update time : 138.673 us, Write time : 286.007 us[0m +252.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990633 ms (missed cycles : 3).[0m +253.59sWARNros2_control_nodeOverrun might occur, Total time : 3602.993 us (Expected < 1666.667 us) --> Read time : 124.133 us, Update time : 105.183 us, Write time : 3373.677 us[0m +253.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641907 ms (missed cycles : 4).[0m +254.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674585 ms (missed cycles : 2).[0m +254.88sWARNros2_control_nodeOverrun might occur, Total time : 3073.369 us (Expected < 1666.667 us) --> Read time : 129.403 us, Update time : 2618.207 us, Write time : 325.759 us[0m +255.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161419 ms (missed cycles : 3).[0m +256.14sWARNros2_control_nodeOverrun might occur, Total time : 1875.957 us (Expected < 1666.667 us) --> Read time : 147.884 us, Update time : 1445.646 us, Write time : 282.427 us[0m +256.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921881 ms (missed cycles : 2).[0m +257.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781100055.84506774 seconds +257.64sWARNros2_control_nodeOverrun might occur, Total time : 2394.331 us (Expected < 1666.667 us) --> Read time : 124.543 us, Update time : 84.962 us, Write time : 2184.826 us[0m +257.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781100056.38448954 seconds. +257.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650069 ms (missed cycles : 3).[0m +257.92sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +258.69sWARNros2_control_nodeOverrun might occur, Total time : 3636.433 us (Expected < 1666.667 us) --> Read time : 150.044 us, Update time : 106.382 us, Write time : 3380.007 us[0m +258.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770356 ms (missed cycles : 2).[0m +258.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +259.59sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m +259.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444017 ms (missed cycles : 2).[0m +260.13sWARNros2_control_nodeOverrun might occur, Total time : 2748.680 us (Expected < 1666.667 us) --> Read time : 113.573 us, Update time : 2336.840 us, Write time : 298.267 us[0m +260.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703202 ms (missed cycles : 2).[0m +261.65sWARNros2_control_nodeOverrun might occur, Total time : 2155.956 us (Expected < 1666.667 us) --> Read time : 130.063 us, Update time : 1727.755 us, Write time : 298.138 us[0m +261.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431460 ms (missed cycles : 4).[0m +262.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415762 ms (missed cycles : 2).[0m +264.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470296 ms (missed cycles : 2).[0m +264.15sWARNros2_control_nodeOverrun might occur, Total time : 1867.498 us (Expected < 1666.667 us) --> Read time : 412.890 us, Update time : 99.323 us, Write time : 1355.285 us[0m +265.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946440 ms (missed cycles : 2).[0m +265.47sWARNros2_control_nodeOverrun might occur, Total time : 1716.004 us (Expected < 1666.667 us) --> Read time : 126.893 us, Update time : 1324.714 us, Write time : 264.397 us[0m +266.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942942 ms (missed cycles : 2).[0m +266.52sWARNros2_control_nodeOverrun might occur, Total time : 3484.878 us (Expected < 1666.667 us) --> Read time : 188.464 us, Update time : 2973.836 us, Write time : 322.578 us[0m +267.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379710 ms (missed cycles : 2).[0m +267.87sWARNros2_control_nodeOverrun might occur, Total time : 2032.413 us (Expected < 1666.667 us) --> Read time : 131.104 us, Update time : 1671.943 us, Write time : 229.366 us[0m +268.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650098 ms (missed cycles : 4).[0m +269.31sWARNros2_control_nodeOverrun might occur, Total time : 1730.464 us (Expected < 1666.667 us) --> Read time : 136.904 us, Update time : 1315.743 us, Write time : 277.817 us[0m +269.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939486 ms (missed cycles : 2).[0m +270.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.989194 ms (missed cycles : 5).[0m +271.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546470 ms (missed cycles : 4).[0m +271.59sWARNros2_control_nodeOverrun might occur, Total time : 1799.296 us (Expected < 1666.667 us) --> Read time : 127.143 us, Update time : 1385.936 us, Write time : 286.217 us[0m +272.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011458 ms (missed cycles : 3).[0m +273.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143633 ms (missed cycles : 5).[0m +274.05sWARNros2_control_nodeOverrun might occur, Total time : 3775.116 us (Expected < 1666.667 us) --> Read time : 129.683 us, Update time : 3366.196 us, Write time : 279.237 us[0m +274.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001996 ms (missed cycles : 2).[0m +275.42sWARNros2_control_nodeOverrun might occur, Total time : 3346.226 us (Expected < 1666.667 us) --> Read time : 139.914 us, Update time : 108.282 us, Write time : 3098.030 us[0m +275.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720258 ms (missed cycles : 5).[0m +276.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752046 ms (missed cycles : 2).[0m +277.26sWARNros2_control_nodeOverrun might occur, Total time : 3739.687 us (Expected < 1666.667 us) --> Read time : 107.933 us, Update time : 3368.687 us, Write time : 263.067 us[0m +277.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958402 ms (missed cycles : 3).[0m +278.64sWARNros2_control_nodeOverrun might occur, Total time : 1864.749 us (Expected < 1666.667 us) --> Read time : 1435.997 us, Update time : 131.564 us, Write time : 297.188 us[0m +278.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066361 ms (missed cycles : 2).[0m +279.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109331 ms (missed cycles : 4).[0m +280.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249296 ms (missed cycles : 5).[0m +281.24sWARNros2_control_nodeOverrun might occur, Total time : 3494.550 us (Expected < 1666.667 us) --> Read time : 107.103 us, Update time : 508.593 us, Write time : 2878.854 us[0m +281.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487927 ms (missed cycles : 3).[0m +282.44sWARNros2_control_nodeOverrun might occur, Total time : 1996.791 us (Expected < 1666.667 us) --> Read time : 120.384 us, Update time : 1615.201 us, Write time : 261.206 us[0m +283.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432530 ms (missed cycles : 4).[0m +284.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.616635 ms (missed cycles : 7).[0m +285.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208508 ms (missed cycles : 4).[0m +285.62sWARNros2_control_nodeOverrun might occur, Total time : 1701.614 us (Expected < 1666.667 us) --> Read time : 165.804 us, Update time : 102.363 us, Write time : 1433.447 us[0m +286.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146641 ms (missed cycles : 3).[0m +287.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545036 ms (missed cycles : 3).[0m +287.45sWARNros2_control_nodeOverrun might occur, Total time : 1910.360 us (Expected < 1666.667 us) --> Read time : 152.744 us, Update time : 1474.519 us, Write time : 283.097 us[0m +287.74sINFOobjective_server_nodePlanning for 31 path waypoints. +288.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698786 ms (missed cycles : 2).[0m +288.89sWARNros2_control_nodeOverrun might occur, Total time : 2195.587 us (Expected < 1666.667 us) --> Read time : 135.513 us, Update time : 1764.306 us, Write time : 295.768 us[0m +289.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443662 ms (missed cycles : 5).[0m +290.45sWARNros2_control_nodeOverrun might occur, Total time : 2048.462 us (Expected < 1666.667 us) --> Read time : 145.033 us, Update time : 1604.081 us, Write time : 299.348 us[0m +290.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095662 ms (missed cycles : 2).[0m +291.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520350 ms (missed cycles : 4).[0m +291.78sWARNros2_control_nodeOverrun might occur, Total time : 2290.930 us (Expected < 1666.667 us) --> Read time : 136.314 us, Update time : 157.734 us, Write time : 1996.882 us[0m +292.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897784 ms (missed cycles : 3).[0m +293.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779383 ms (missed cycles : 2).[0m +294.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861202 ms (missed cycles : 4).[0m +294.85sWARNros2_control_nodeOverrun might occur, Total time : 5940.554 us (Expected < 1666.667 us) --> Read time : 148.854 us, Update time : 5476.802 us, Write time : 314.898 us[0m +295.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680671 ms (missed cycles : 4).[0m +296.51sWARNros2_control_nodeOverrun might occur, Total time : 1692.065 us (Expected < 1666.667 us) --> Read time : 151.164 us, Update time : 1244.763 us, Write time : 296.138 us[0m +296.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.035732 ms (missed cycles : 6).[0m +297.53sWARNros2_control_nodeOverrun might occur, Total time : 5651.386 us (Expected < 1666.667 us) --> Read time : 124.433 us, Update time : 5214.605 us, Write time : 312.348 us[0m +297.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445553 ms (missed cycles : 2).[0m +298.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.678178 ms (missed cycles : 6).[0m +299.95sWARNros2_control_nodeOverrun might occur, Total time : 1711.834 us (Expected < 1666.667 us) --> Read time : 151.324 us, Update time : 1217.931 us, Write time : 342.579 us[0m +299.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896317 ms (missed cycles : 2).[0m +300.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727092 ms (missed cycles : 2).[0m +301.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122854 ms (missed cycles : 2).[0m +302.26sWARNros2_control_nodeOverrun might occur, Total time : 4370.923 us (Expected < 1666.667 us) --> Read time : 211.735 us, Update time : 102.143 us, Write time : 4057.045 us[0m +303.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951423 ms (missed cycles : 3).[0m +303.53sINFOobjective_server_nodePlanning for 39 path waypoints. +304.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997890 ms (missed cycles : 3).[0m +304.08sWARNros2_control_nodeOverrun might occur, Total time : 1858.879 us (Expected < 1666.667 us) --> Read time : 121.734 us, Update time : 1376.905 us, Write time : 360.240 us[0m +305.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041419 ms (missed cycles : 4).[0m +306.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049268 ms (missed cycles : 3).[0m +307.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254454 ms (missed cycles : 2).[0m +307.40sWARNros2_control_nodeOverrun might occur, Total time : 1983.311 us (Expected < 1666.667 us) --> Read time : 143.154 us, Update time : 1531.019 us, Write time : 309.138 us[0m +308.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191324 ms (missed cycles : 2).[0m +308.64sWARNros2_control_nodeOverrun might occur, Total time : 2416.352 us (Expected < 1666.667 us) --> Read time : 126.003 us, Update time : 116.483 us, Write time : 2173.866 us[0m +309.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071543 ms (missed cycles : 2).[0m +310.21sWARNros2_control_nodeOverrun might occur, Total time : 2230.628 us (Expected < 1666.667 us) --> Read time : 242.666 us, Update time : 1540.020 us, Write time : 447.942 us[0m +310.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956932 ms (missed cycles : 2).[0m +311.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413174 ms (missed cycles : 2).[0m +312.15sWARNros2_control_nodeOverrun might occur, Total time : 1972.422 us (Expected < 1666.667 us) --> Read time : 106.983 us, Update time : 1593.182 us, Write time : 272.257 us[0m +312.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961941 ms (missed cycles : 2).[0m +313.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380467 ms (missed cycles : 2).[0m +313.49sWARNros2_control_nodeOverrun might occur, Total time : 1945.401 us (Expected < 1666.667 us) --> Read time : 147.524 us, Update time : 1491.978 us, Write time : 305.899 us[0m +314.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484156 ms (missed cycles : 3).[0m +315.39sWARNros2_control_nodeOverrun might occur, Total time : 1855.048 us (Expected < 1666.667 us) --> Read time : 134.443 us, Update time : 1418.787 us, Write time : 301.818 us[0m +315.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705016 ms (missed cycles : 2).[0m +316.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321690 ms (missed cycles : 4).[0m +317.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.728978 ms (missed cycles : 6).[0m +317.80sINFOobjective_server_nodePlanning for 28 path waypoints. +318.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373845 ms (missed cycles : 5).[0m +319.14sWARNros2_control_nodeOverrun might occur, Total time : 1925.140 us (Expected < 1666.667 us) --> Read time : 131.544 us, Update time : 1530.789 us, Write time : 262.807 us[0m +319.60sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +319.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055052 ms (missed cycles : 2).[0m +320.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300985 ms (missed cycles : 2).[0m +321.47sWARNros2_control_nodeOverrun might occur, Total time : 2320.560 us (Expected < 1666.667 us) --> Read time : 142.424 us, Update time : 1904.839 us, Write time : 273.297 us[0m +321.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664953 ms (missed cycles : 3).[0m +322.66sWARNros2_control_nodeOverrun might occur, Total time : 1677.604 us (Expected < 1666.667 us) --> Read time : 147.544 us, Update time : 1247.233 us, Write time : 282.827 us[0m +322.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654433 ms (missed cycles : 4).[0m +323.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619898 ms (missed cycles : 6).[0m +324.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992531 ms (missed cycles : 6).[0m +325.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725893 ms (missed cycles : 2).[0m +326.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188452 ms (missed cycles : 4).[0m +327.41sWARNros2_control_nodeOverrun might occur, Total time : 1671.294 us (Expected < 1666.667 us) --> Read time : 146.454 us, Update time : 69.952 us, Write time : 1454.888 us[0m +327.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076952 ms (missed cycles : 3).[0m +329.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.267148 ms (missed cycles : 7).[0m +329.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781100128.32812881 seconds +330.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169641 ms (missed cycles : 5).[0m +330.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781100128.87155294 seconds. +330.38sWARNros2_control_nodeOverrun might occur, Total time : 1761.226 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 71.132 us, Write time : 1582.101 us[0m +330.46sINFOobjective_server_nodeFound path in 0 iterations (7.2e-07 s). ×2 +331.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413539 ms (missed cycles : 3).[0m +332.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536903 ms (missed cycles : 3).[0m +332.95sWARNros2_control_nodeOverrun might occur, Total time : 1935.510 us (Expected < 1666.667 us) --> Read time : 1524.070 us, Update time : 152.024 us, Write time : 259.416 us[0m +333.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203876 ms (missed cycles : 2).[0m +334.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908544 ms (missed cycles : 2).[0m +334.69sWARNros2_control_nodeOverrun might occur, Total time : 1829.787 us (Expected < 1666.667 us) --> Read time : 150.454 us, Update time : 1394.466 us, Write time : 284.867 us[0m +335.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366774 ms (missed cycles : 3).[0m +336.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083536 ms (missed cycles : 2).[0m +336.95sWARNros2_control_nodeOverrun might occur, Total time : 2039.452 us (Expected < 1666.667 us) --> Read time : 200.175 us, Update time : 1559.890 us, Write time : 279.387 us[0m +337.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773857 ms (missed cycles : 2).[0m +338.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640961 ms (missed cycles : 4).[0m +338.88sWARNros2_control_nodeOverrun might occur, Total time : 3630.234 us (Expected < 1666.667 us) --> Read time : 170.594 us, Update time : 3134.181 us, Write time : 325.459 us[0m +339.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251456 ms (missed cycles : 2).[0m +340.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189752 ms (missed cycles : 3).[0m +341.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456644 ms (missed cycles : 4).[0m +342.29sWARNros2_control_nodeOverrun might occur, Total time : 2103.604 us (Expected < 1666.667 us) --> Read time : 150.013 us, Update time : 1689.874 us, Write time : 263.717 us[0m +342.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164371 ms (missed cycles : 2).[0m +343.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367578 ms (missed cycles : 5).[0m +344.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240284 ms (missed cycles : 2).[0m +345.11sWARNros2_control_nodeOverrun might occur, Total time : 4355.502 us (Expected < 1666.667 us) --> Read time : 183.784 us, Update time : 190.085 us, Write time : 3981.633 us[0m +345.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615416 ms (missed cycles : 2).[0m +346.51sWARNros2_control_nodeOverrun might occur, Total time : 2033.192 us (Expected < 1666.667 us) --> Read time : 126.493 us, Update time : 1647.842 us, Write time : 258.857 us[0m +346.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802273 ms (missed cycles : 2).[0m +347.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669879 ms (missed cycles : 2).[0m +348.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022699 ms (missed cycles : 3).[0m +349.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257303 ms (missed cycles : 3).[0m +350.20sWARNros2_control_nodeOverrun might occur, Total time : 1856.569 us (Expected < 1666.667 us) --> Read time : 137.184 us, Update time : 1391.586 us, Write time : 327.799 us[0m +350.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738017 ms (missed cycles : 3).[0m +351.84sWARNros2_control_nodeOverrun might occur, Total time : 1928.559 us (Expected < 1666.667 us) --> Read time : 143.634 us, Update time : 1494.258 us, Write time : 290.667 us[0m +351.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039209 ms (missed cycles : 6).[0m +352.91sWARNros2_control_nodeOverrun might occur, Total time : 2795.343 us (Expected < 1666.667 us) --> Read time : 224.536 us, Update time : 336.269 us, Write time : 2234.538 us[0m +353.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394421 ms (missed cycles : 3).[0m +354.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629549 ms (missed cycles : 4).[0m +354.60sWARNros2_control_nodeOverrun might occur, Total time : 3145.192 us (Expected < 1666.667 us) --> Read time : 134.053 us, Update time : 2717.791 us, Write time : 293.348 us[0m +355.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073951 ms (missed cycles : 2).[0m +356.03sWARNros2_control_nodeOverrun might occur, Total time : 2665.230 us (Expected < 1666.667 us) --> Read time : 114.983 us, Update time : 152.504 us, Write time : 2397.743 us[0m +356.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754337 ms (missed cycles : 3).[0m +357.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747976 ms (missed cycles : 2).[0m +358.26sWARNros2_control_nodeOverrun might occur, Total time : 3228.974 us (Expected < 1666.667 us) --> Read time : 118.573 us, Update time : 2125.485 us, Write time : 984.916 us[0m +358.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186182 ms (missed cycles : 2).[0m +359.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111366 ms (missed cycles : 3).[0m +360.35sWARNros2_control_nodeOverrun might occur, Total time : 2711.601 us (Expected < 1666.667 us) --> Read time : 123.144 us, Update time : 2291.129 us, Write time : 297.328 us[0m +360.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541331 ms (missed cycles : 4).[0m +361.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035457 ms (missed cycles : 3).[0m +362.09sWARNros2_control_nodeOverrun might occur, Total time : 1754.975 us (Expected < 1666.667 us) --> Read time : 148.924 us, Update time : 1326.644 us, Write time : 279.407 us[0m +362.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039041 ms (missed cycles : 2).[0m +363.35sWARNros2_control_nodeOverrun might occur, Total time : 1741.826 us (Expected < 1666.667 us) --> Read time : 152.844 us, Update time : 104.783 us, Write time : 1484.199 us[0m +363.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.888317 ms (missed cycles : 6).[0m +364.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359747 ms (missed cycles : 2).[0m +365.19sWARNros2_control_nodeOverrun might occur, Total time : 2835.654 us (Expected < 1666.667 us) --> Read time : 186.325 us, Update time : 85.363 us, Write time : 2563.966 us[0m +365.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667818 ms (missed cycles : 4).[0m +366.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871903 ms (missed cycles : 4).[0m +367.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730245 ms (missed cycles : 2).[0m +367.99sWARNros2_control_nodeOverrun might occur, Total time : 2364.061 us (Expected < 1666.667 us) --> Read time : 117.692 us, Update time : 155.195 us, Write time : 2091.174 us[0m +368.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412431 ms (missed cycles : 2).[0m +369.04sWARNros2_control_nodeOverrun might occur, Total time : 1870.488 us (Expected < 1666.667 us) --> Read time : 126.863 us, Update time : 1462.898 us, Write time : 280.727 us[0m +369.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135908 ms (missed cycles : 4).[0m +370.66sWARNros2_control_nodeOverrun might occur, Total time : 2570.547 us (Expected < 1666.667 us) --> Read time : 179.095 us, Update time : 2079.704 us, Write time : 311.748 us[0m +370.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768406 ms (missed cycles : 2).[0m +371.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926974 ms (missed cycles : 2).[0m +372.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779325 ms (missed cycles : 2).[0m +373.30sWARNros2_control_nodeOverrun might occur, Total time : 2095.733 us (Expected < 1666.667 us) --> Read time : 137.753 us, Update time : 1692.523 us, Write time : 265.457 us[0m +373.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775145 ms (missed cycles : 4).[0m +375.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408136 ms (missed cycles : 2).[0m +375.13sWARNros2_control_nodeOverrun might occur, Total time : 2160.546 us (Expected < 1666.667 us) --> Read time : 126.373 us, Update time : 1704.464 us, Write time : 329.709 us[0m +376.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795739 ms (missed cycles : 5).[0m +376.33sWARNros2_control_nodeOverrun might occur, Total time : 2589.917 us (Expected < 1666.667 us) --> Read time : 121.423 us, Update time : 2147.546 us, Write time : 320.948 us[0m +377.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377636 ms (missed cycles : 2).[0m +377.82sWARNros2_control_nodeOverrun might occur, Total time : 3753.178 us (Expected < 1666.667 us) --> Read time : 143.274 us, Update time : 3266.715 us, Write time : 343.189 us[0m +378.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688481 ms (missed cycles : 2).[0m +379.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744143 ms (missed cycles : 2).[0m +379.55sWARNros2_control_nodeOverrun might occur, Total time : 1789.747 us (Expected < 1666.667 us) --> Read time : 137.384 us, Update time : 1356.425 us, Write time : 295.938 us[0m +380.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777597 ms (missed cycles : 2).[0m +381.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704810 ms (missed cycles : 7).[0m +381.44sWARNros2_control_nodeOverrun might occur, Total time : 1791.877 us (Expected < 1666.667 us) --> Read time : 108.573 us, Update time : 1449.527 us, Write time : 233.777 us[0m +382.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876490 ms (missed cycles : 2).[0m +383.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492266 ms (missed cycles : 4).[0m +383.48sWARNros2_control_nodeOverrun might occur, Total time : 4525.527 us (Expected < 1666.667 us) --> Read time : 3988.123 us, Update time : 165.694 us, Write time : 371.710 us[0m +384.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675566 ms (missed cycles : 4).[0m +384.61sWARNros2_control_nodeOverrun might occur, Total time : 2342.741 us (Expected < 1666.667 us) --> Read time : 231.896 us, Update time : 474.383 us, Write time : 1636.462 us[0m +384.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781100183.43169832 seconds +385.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781100183.97530937 seconds. +385.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865101 ms (missed cycles : 2).[0m +386.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681607 ms (missed cycles : 4).[0m +386.99sWARNros2_control_nodeOverrun might occur, Total time : 1998.992 us (Expected < 1666.667 us) --> Read time : 164.224 us, Update time : 1516.139 us, Write time : 318.629 us[0m +387.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395677 ms (missed cycles : 3).[0m +388.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829227 ms (missed cycles : 2).[0m +389.61sWARNros2_control_nodeOverrun might occur, Total time : 1782.026 us (Expected < 1666.667 us) --> Read time : 94.932 us, Update time : 88.633 us, Write time : 1598.461 us[0m +389.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940135 ms (missed cycles : 2).[0m +389.65sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +389.67sINFOobjective_server_nodePath shortcutter: [X__________________X] +389.72sINFOobjective_server_nodePath shortcutter: [X____________________X] +389.74sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). +389.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] +389.92sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +389.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). +390.14sINFOobjective_server_nodeFound path in 69 iterations (0.0433216 s). +390.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +390.33sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). +390.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +390.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749041 ms (missed cycles : 2).[0m +390.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +390.78sWARNros2_control_nodeOverrun might occur, Total time : 3507.171 us (Expected < 1666.667 us) --> Read time : 2989.797 us, Update time : 144.734 us, Write time : 372.640 us[0m +390.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +390.94sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +391.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049981 ms (missed cycles : 2).[0m +392.61sWARNros2_control_nodeOverrun might occur, Total time : 2170.785 us (Expected < 1666.667 us) --> Read time : 481.292 us, Update time : 489.342 us, Write time : 1200.151 us[0m +392.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815472 ms (missed cycles : 3).[0m +393.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469293 ms (missed cycles : 2).[0m +394.30sWARNros2_control_nodeOverrun might occur, Total time : 2064.413 us (Expected < 1666.667 us) --> Read time : 205.645 us, Update time : 251.556 us, Write time : 1607.212 us[0m +394.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443050 ms (missed cycles : 4).[0m +395.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821878 ms (missed cycles : 3).[0m +396.94sWARNros2_control_nodeOverrun might occur, Total time : 3763.078 us (Expected < 1666.667 us) --> Read time : 183.635 us, Update time : 3199.033 us, Write time : 380.410 us[0m +396.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781100195.68652630 seconds +396.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770268 ms (missed cycles : 3).[0m +397.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781100196.26388168 seconds. +397.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781100196.67401814 seconds +398.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023717 ms (missed cycles : 4).[0m +398.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781100197.20937538 seconds. +398.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781100197.58951306 seconds +399.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735264 ms (missed cycles : 2).[0m +399.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +400.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441598 ms (missed cycles : 4).[0m +400.65sWARNros2_control_nodeOverrun might occur, Total time : 2831.723 us (Expected < 1666.667 us) --> Read time : 160.315 us, Update time : 2380.411 us, Write time : 290.997 us[0m +401.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371975 ms (missed cycles : 2).[0m +401.82sWARNros2_control_nodeOverrun might occur, Total time : 3097.310 us (Expected < 1666.667 us) --> Read time : 157.344 us, Update time : 2629.628 us, Write time : 310.338 us[0m +402.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141245 ms (missed cycles : 3).[0m +403.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089409 ms (missed cycles : 3).[0m +404.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196541 ms (missed cycles : 4).[0m +404.78sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.78sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.78sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.79sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.79sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.79sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.79sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.80sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.80sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.80sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.81sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.81sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.81sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.81sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.82sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] +404.83sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.83sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.84sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.84sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.84sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] +404.86sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.86sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +404.86sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] +404.88sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] +404.89sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] +404.91sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +404.92sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +404.94sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +404.95sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +404.97sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +404.99sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +405.01sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +405.03sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +405.05sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +405.05sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +405.05sERRORmove_group-20process has died [pid 9877, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_5kh09qzb --params-file /tmp/launch_params_trlxf3uv --params-file /tmp/launch_params_2ggb8kqe --params-file /tmp/launch_params__db8sxxj --params-file /tmp/launch_params_u7m7astc --params-file /tmp/launch_params_r7ou0mbz --params-file /tmp/launch_params_6bowmnvg --params-file /tmp/launch_params_jdrf10iz --params-file /tmp/launch_params_zrvlvd48']. +405.06sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +405.08sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +405.08sINFOweb_video_server-31process has finished cleanly [pid 9951] +405.09sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +405.10sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +405.10sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +405.12sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +405.13sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +405.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +405.13sERRORui_teleop_bridgeTraceback (most recent call last): +405.13sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +405.13sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +405.13sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +405.13sINFOui_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 +405.13sINFOui_teleop_bridgerclpy.shutdown() +405.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +405.13sINFOui_teleop_bridge_shutdown(context=context) +405.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +405.13sINFOui_teleop_bridgecontext.shutdown() +405.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +405.13sINFOui_teleop_bridgeself.__context.shutdown() +405.13sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +405.13sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +405.13sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +405.13sINFOcomponent_container_mtStopping planning scene monitor[0m +405.13sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +405.14sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +405.14sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +405.14sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +405.14sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +405.14sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +405.14sERRORmove_groupwhat(): context cannot be slept with because it's invalid +405.14sERRORmove_groupStack trace (most recent call last) in thread 10436: +405.14sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +405.14sWARNros2_control_nodeOverrun might occur, Total time : 1761.455 us (Expected < 1666.667 us) --> Read time : 78.172 us, Update time : 1478.578 us, Write time : 204.705 us[0m +405.14sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb202b0a63, in __clone +405.14sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb20223aa3, in +405.14sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb204b5db3, in +405.14sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7fcb20b0a19a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +405.14sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcb208284d0, in rclcpp::Rate::sleep() +405.14sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcb2077ba88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +405.14sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcb20740a71, in +405.14sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb20484390, in __cxa_throw +405.14sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb2046ea54, in std::terminate() +405.14sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb204840d9, in +405.14sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb2046eff4, in +405.14sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb201af8fe, in abort +405.14sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb201cc27d, in raise +405.14sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb20225b2c, in pthread_kill +405.14sERRORmove_groupAborted (Signal sent by tkill() 9877 0) +405.14sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +405.14sINFOros2_control_nodeShutdown request received....[0m +405.14sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +405.14sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +405.14sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +405.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +405.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +405.14sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +405.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +405.14sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +405.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +405.14sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +405.14sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +405.14sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +405.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +405.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +405.14sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +405.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +405.14sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +405.14sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +405.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +405.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +405.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +405.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +405.14sINFOros2_control_nodeShutting down the controller manager.[0m +405.14sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +405.14sINFOobjective_server_node[2026-06-10 14:03:23.779] [moveit_pro_license] [info] +405.14sINFOobjective_server_node* Application has successfully terminated +405.14sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +405.14sERRORobjective_server_nodeStack trace (most recent call last): +405.15sERRORodom_qos_relay.pyTraceback (most recent call last): +405.15sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +405.15sINFOodom_qos_relay.pymain() +405.15sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +405.15sINFOodom_qos_relay.pyrclpy.spin(node) +405.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +405.15sINFOodom_qos_relay.pyexecutor.spin_once() +405.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +405.15sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +405.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +405.15sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +405.15sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +405.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +405.15sINFOodom_qos_relay.pyreturn next(self._cb_iter) +405.15sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +405.15sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +405.15sINFOodom_qos_relay.pyraise ExternalShutdownException() +405.15sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +405.15sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +405.15sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a3a313d6a4, in _start +405.15sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0a9a60f28a, in __libc_start_main +405.15sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0a9a60f1d0, in +405.15sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0a9a62cbbd, in exit +405.15sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0a9a62ca75, in +405.15sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0a9aafe4a2, in spdlog::details::registry::~registry() +405.15sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0a9ab0969d, 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() +405.15sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0a9ab03965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +405.15sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a3a3144315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +405.15sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a3a31435a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +405.15sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a3a313fb7b, in spdlog_ros::RosSink::~RosSink() +405.15sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a3a313dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +405.15sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0a9b181454, in rclcpp::Node::~Node() +405.15sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0a9b13c515, in +405.15sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0a9b17fd20, in +405.15sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0a9b17fc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +405.15sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0a9b13c5d9, in +405.15sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0a9b141161, in rclcpp::CallbackGroup::~CallbackGroup() +405.15sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f0a627ec420]) +405.15sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×3 +405.16sERRORobjective_server_node_main-25process has died [pid 9945, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_r5sb_6gt --params-file /tmp/launch_params_uruho8v6 --params-file /tmp/launch_params_tffvpcrw --params-file /tmp/launch_params_g31p4iwx --params-file /tmp/launch_params_rtcd4w8u --params-file /tmp/launch_params_8m__ifoq']. +405.16sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +405.16sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +405.23sINFOros2_control_nodeAsync messages lost 0[0m ×2 +405.23sINFOros2_control_nodepublish_async_failures_ 8[0m +405.23sINFOros2_control_nodepublish_async_failures_ 2[0m +405.62sERRORcomponent_container_isolated-1process has died [pid 9770, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_tbe697rh --params-file /tmp/launch_params_c8ctzgmg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +405.90sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9950] +405.90sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system +405.98sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9928] +406.00sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9884] +406.00sERRORui_teleop_bridge-28process has died [pid 9948, 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_g2sz8_53']. +406.00sINFOexecute_objective_bridge-27process has finished cleanly [pid 9947] +406.05sINFOparameter_manager_node-21process has finished cleanly [pid 9879] +406.07sINFOwaypoint_manager_node-22process has finished cleanly [pid 9882] +406.09sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9776] +406.11sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9775] +406.12sINFOcomponent_container_mt-26process has finished cleanly [pid 9946] +406.13sINFOstatic_transform_publisher-4process has finished cleanly [pid 9773] +406.14sINFOstatic_transform_publisher-3process has finished cleanly [pid 9772] +406.16sINFOstatic_transform_publisher-2process has finished cleanly [pid 9771] +406.16sERRORodom_qos_relay.py-5process has died [pid 9774, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +407.66sINFOweb_bridge-29process has finished cleanly [pid 9949] +407.66sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system +407.78sINFOros2_control_node-8process has finished cleanly [pid 9777] +414.13sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-10-14-03-30-446935-29cfc6d4821c-10764 ×2 +420.91sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +420.91sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' +420.91sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' +421.01sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +421.04sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +421.05sINFOcontroller_managerupdate rate is 600 Hz +421.05sINFOcontroller_managerOverruns handling is : enabled +421.05sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +421.05sWARNcontroller_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. +421.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +421.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +421.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +421.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256287 ms (missed cycles : 3). +421.15sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.15sINFOros2_control_node-8process started with pid [10820] ×2 +421.15sINFOmove_group-20process started with pid [10918] ×2 +421.15sINFOparameter_manager_node-21process started with pid [10920] ×2 +421.15sINFOwaypoint_manager_node-22process started with pid [10922] ×2 +421.15sINFOmove_joint_resampler_node-23process started with pid [10923] ×2 +421.15sINFOmove_end_effector_resampler_node-24process started with pid [10965] ×2 +421.15sINFOobjective_server_node_main-25process started with pid [10966] ×2 +421.15sINFOcomponent_container_mt-26process started with pid [10983] ×2 +421.15sINFOexecute_objective_bridge-27process started with pid [10984] ×2 +421.15sINFOui_teleop_bridge-28process started with pid [10987] ×2 +421.15sINFOweb_bridge-29process started with pid [10990] ×2 +421.15sINFOtf2_web_republisher_node-30process started with pid [10991] ×2 +421.15sINFOweb_video_server-31process started with pid [10992] ×2 +421.16sINFOcomponent_container_isolated-1process started with pid [10813] ×2 +421.16sINFOstatic_transform_publisher-2process started with pid [10814] ×2 +421.16sINFOstatic_transform_publisher-3process started with pid [10815] ×2 +421.16sINFOstatic_transform_publisher-4process started with pid [10816] ×2 +421.16sINFOodom_qos_relay.py-5process started with pid [10817] ×2 +421.16sINFOscan_to_scan_filter_chain-6process started with pid [10818] ×2 +421.16sINFOscan_to_scan_filter_chain-7process started with pid [10819] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [10891] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [10892] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [10893] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [10895] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [10900] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [10905] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [10908] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [10910] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [10913] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [10915] ×2 +421.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [10916] ×2 +421.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256287 ms (missed cycles : 3).[0m ×2 +421.21sINFOcontroller_serverCreating controller server +421.27sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.29sINFOlocal_costmap.local_costmapCreating Costmap +421.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +421.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +421.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +421.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +421.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +421.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +421.34sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.34sINFOmap_serverCreating +421.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +421.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +421.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +421.36sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +421.37sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.38sINFOsmoother_serverCreating smoother server +421.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +421.38sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +421.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +421.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +421.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +421.41sINFOlifecycle_manager_localizationCreating +421.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +421.43sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +421.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +421.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +421.43sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +421.43sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +421.43sINFOmap_serverConfiguring +421.44sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.44sINFOrobot_state_publisherRobot initialized +421.45sINFOcontroller_managerReceived robot description from topic. +421.45sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +421.46sINFOplanner_serverCreating +421.48sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.48sINFOglobal_costmap.global_costmapCreating Costmap +421.49sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +421.50sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +421.50sINFOmap_serverActivating +421.50sINFOmap_serverCreating bond (map_server) to lifecycle manager. +421.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +421.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +421.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +421.52sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +421.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +421.58sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +421.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +421.61sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.61sINFOlifecycle_manager_localizationServer map_server connected with bond. +421.61sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +421.61sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +421.64sINFObt_navigatorCreating +421.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +421.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +421.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +421.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +421.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +421.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +421.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +421.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +421.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +421.67sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +421.67sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +421.68sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +421.68sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +421.68sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +421.69sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.69sINFOwaypoint_followerCreating +421.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +421.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +421.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +421.74sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +421.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +421.79sINFOlifecycle_manager_navigationCreating +421.80sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +421.83sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.329151 seconds +421.83sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +421.83sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +421.84sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +421.84sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +421.84sINFOcontroller_serverConfiguring controller interface +421.84sINFOcontroller_servergetting progress checker plugins.. +421.84sINFOcontroller_servergetting goal checker plugins.. +421.84sINFOcontroller_serverController frequency set to 20.0000Hz +421.84sINFOlocal_costmap.local_costmapConfiguring +421.85sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +421.87sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +421.90sINFOmove_groupLoaded robot model in 0.329151 seconds[0m ×2 +421.91sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +421.91sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +421.92sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +421.92sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +421.92sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +421.95sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +421.96sINFOcontroller_serverController Server has progress_checker progress checkers available. +421.96sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +421.97sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +421.99sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +422.01sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +422.03sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +422.03sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +422.04sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +422.04sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +422.05sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +422.05sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +422.05sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +422.05sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +422.07sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +422.07sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +422.07sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +422.08sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +422.08sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +422.08sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +422.08sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +422.09sINFOcontroller_serverOptimizer reset +422.10sINFOcontroller_serverController Server has FollowPath controllers available. +422.12sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +422.12sINFOsmoother_serverConfiguring smoother server +422.13sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +422.14sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +422.15sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +422.15sINFOplanner_serverConfiguring +422.15sINFOglobal_costmap.global_costmapConfiguring +422.16sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +422.17sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +422.17sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +422.17sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +422.18sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +422.21sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +422.21sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +422.23sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +422.27sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +422.27sINFOplanner_serverCleaning up +422.27sINFOglobal_costmap.global_costmapCleaning up +422.27sINFOwaypoint_manager_nodeLoaded robot model in 0.457089 seconds[0m ×2 +422.28sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +422.37sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +422.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.027233 ms (missed cycles : 5). +422.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.027233 ms (missed cycles : 5).[0m ×2 +423.02sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +423.02sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +423.03sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +423.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 +423.17sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +423.18sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +423.18sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +423.18sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +423.18sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +423.19sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +423.19sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +423.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +423.20sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +423.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +423.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +423.72sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +423.72sINFOcontroller_managerActivating component 'ur_mujoco_control'. +423.72sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +423.72sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +423.75sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +423.75sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +423.79sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +423.79sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +423.79sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +423.79sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +423.81sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster +423.82sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +423.82sINFOforce_torque_sensor_broadcasterconfigure successful +423.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +423.83sINFOcontroller_managerSuccessfully switched controllers! ×8 +423.83sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster +424.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776186 ms (missed cycles : 2). +424.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776186 ms (missed cycles : 2).[0m ×2 +424.06sINFOobjective_server_node[2026-06-10 14:03:42.804] [moveit_pro_license] [info] ×2 +424.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 10891] ×2 +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +424.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +424.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +424.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +424.19sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +424.19sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +424.30sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +424.30sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +424.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +424.34sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +424.35sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller +424.35sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +424.49sINFOobjective_server_nodeLoaded robot model in 0.381336 seconds[0m ×2 +424.60sINFOros2_control_node[2026-06-10 14:03:43.342] [info] Controller state will be published at 20 Hz. ×2 +424.60sINFOros2_control_node[2026-06-10 14:03:43.344] [info] JointVelocityController 'on_configure' succeeded. ×2 +424.80sINFOcomponent_container_mtLoaded robot model in 0.423712 seconds[0m ×2 +424.86sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +424.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +424.92sINFOcontroller_managerLoading controller 'velocity_force_controller' +424.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 10916] ×2 +424.99sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +424.99sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +425.04sINFOspawner_velocity_force_controllerLoaded velocity_force_controller +425.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +425.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011246 ms (missed cycles : 2). +425.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011246 ms (missed cycles : 2).[0m ×2 +425.29sINFOros2_control_node[2026-06-10 14:03:44.037] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +425.30sINFOros2_control_node[2026-06-10 14:03:44.040] [info] Controller state will be published at 10 Hz. ×2 +425.30sINFOros2_control_node[2026-06-10 14:03:44.041] [info] VelocityForceController 'on_configure' succeeded. ×2 +425.53sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +425.58sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +425.58sINFOmove_groupMoveGroup debug mode is ON +425.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10910] ×2 +425.66sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +425.66sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +425.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +425.66sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +425.71sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller +425.71sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +425.82sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+425.94sINFOros2_control_node[2026-06-10 14:03:44.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +425.94sINFOros2_control_node[2026-06-10 14:03:44.685] [info] Controller state will be published at 10 Hz. ×2 +425.94sINFOros2_control_node[2026-06-10 14:03:44.686] [info] VelocityForceController 'on_configure' succeeded. ×2 +426.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). +426.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 +426.26sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us +426.26sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 +426.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 +426.30sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +426.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 +426.55sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +426.55sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +426.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +426.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +426.58sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 +426.59sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +426.59sINFOplatform_velocity_controller_nav2configure successful +426.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 +426.89sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +426.89sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +426.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +426.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +426.98sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller +426.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +426.98sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +426.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +426.98sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +426.98sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +426.99sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +427.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). +427.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 +427.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 +427.37sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +427.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 +427.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +427.63sINFOcontroller_managerLoading controller 'vacuum_gripper' +427.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +427.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +427.65sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us +427.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +427.65sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 +427.66sINFOspawner_vacuum_gripperLoaded vacuum_gripper +427.66sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +427.66sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +427.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +427.67sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us +427.67sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 +427.67sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper +427.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 +427.99sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +427.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 +428.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). +428.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 +428.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +428.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +428.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +428.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +428.28sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster +428.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +428.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +428.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +428.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +428.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +428.30sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster +428.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 +428.63sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +428.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 +428.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 +428.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +428.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +428.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 +428.88sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +428.88sINFOcontroller_managerLoading controller 'platform_velocity_controller' +428.88sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +428.88sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +428.91sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller +428.92sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +428.92sINFOplatform_velocity_controllerconfigure successful +428.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +428.93sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller +429.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 +429.24sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us +429.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). +429.24sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 +429.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 +429.25sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +429.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 +429.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 +429.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 +429.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +429.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' +429.50sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +429.50sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +429.53sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller +429.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +429.79sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 +429.79sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 +429.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 +430.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 +430.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 +430.15sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +430.28sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us +430.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). +430.28sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 +430.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 +430.41sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +430.41sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +430.41sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv +430.41sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 +430.44sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster +430.44sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +430.44sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +430.45sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster +430.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 +430.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +430.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +430.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +430.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +430.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +430.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +430.74sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us +430.75sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 +430.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 +430.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 +431.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 +431.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +431.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +431.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +431.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). +431.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 +432.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). +432.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 51 warnings · 800 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.10sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.36sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.36sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.36sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.37sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.39sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.39sINFOplatform_velocity_controller_nav2configure successful + 0.39sINFOros2_control_nodeconfigure successful[0m ×4 + 0.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.78sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.79sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.79sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.79sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.79sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.79sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.18sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.43sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 1.45sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 1.46sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.46sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.46sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.46sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.47sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 1.47sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.80sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.06sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.06sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.09sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.09sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.09sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.09sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.09sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.09sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.09sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 2.43sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.73sINFOplatform_velocity_controllerconfigure successful + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.05sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 3.31sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.31sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.31sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.31sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.31sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.33sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.33sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.35sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 3.35sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 3.35sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 3.37sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 3.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 3.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 3.60sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 3.60sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.21sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.21sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.21sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.21sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.22sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.22sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.24sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.24sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.24sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.25sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.25sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 4.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 53 warnings · 1362 info |
+ 0.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 0.03sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 0.07sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.07sINFOmove_groupMoveGroup debug mode is ON + 0.07sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10910] ×2 + 0.15sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.15sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.20sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.22sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.23sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.31sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.31sINFOmove_group ×8 + 0.31sINFOmove_group******************************************************** ×4 + 0.31sINFOmove_group* MoveGroup using: ×2 + 0.31sINFOmove_group* - apply_planning_scene_service ×2 + 0.31sINFOmove_group* - clear_octomap_service ×2 + 0.31sINFOmove_group* - ExecuteTaskSolution ×2 + 0.31sINFOmove_group* - get_group_urdf ×2 + 0.31sINFOmove_group* - load_geometry_from_file ×2 + 0.31sINFOmove_group* - get_planning_scene_service ×2 + 0.31sINFOmove_group* - kinematics_service ×2 + 0.31sINFOmove_group* - save_geometry_to_file ×2 + 0.31sINFOmove_group* - GetPlanningGroups ×2 + 0.31sINFOmove_group* - SetActiveControllerService ×2 + 0.31sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.32sINFOmove_group[0m ×2 + 0.32sINFOmove_group[92mYou can start planning now![0m ×2 + 0.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.685] [info] Controller state will be published at 10 Hz. ×2 + 0.44sINFOros2_control_node[2026-06-10 14:03:44.686] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.76sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.76sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.79sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.05sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.05sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.08sINFOplatform_velocity_controller_nav2configure successful + 1.08sINFOros2_control_nodeconfigure successful[0m ×4 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.47sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.47sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.48sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.48sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.48sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.87sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.12sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.12sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.12sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 2.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 2.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.15sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.15sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.15sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 2.16sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 2.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.77sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.79sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 3.12sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 3.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.38sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.40sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.42sINFOplatform_velocity_controllerconfigure successful + 3.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.43sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 4.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.02sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 4.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 4.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.28sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 4.29sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 4.65sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.90sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.93sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.94sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 5.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 7.27sINFOjoint_trajectory_controllerReceived new action goal + 7.27sINFOjoint_trajectory_controllerAccepted new action goal + 7.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.27sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-10-14-03-30-446935-29cfc6d4821c-10764 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 53 warnings · 1356 info |
+ 0.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 0.03sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 0.07sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.07sINFOmove_groupMoveGroup debug mode is ON + 0.07sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10910] ×2 + 0.15sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.15sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.20sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.22sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.23sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.31sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.31sINFOmove_group ×8 + 0.31sINFOmove_group******************************************************** ×4 + 0.31sINFOmove_group* MoveGroup using: ×2 + 0.31sINFOmove_group* - apply_planning_scene_service ×2 + 0.31sINFOmove_group* - clear_octomap_service ×2 + 0.31sINFOmove_group* - ExecuteTaskSolution ×2 + 0.31sINFOmove_group* - get_group_urdf ×2 + 0.31sINFOmove_group* - load_geometry_from_file ×2 + 0.31sINFOmove_group* - get_planning_scene_service ×2 + 0.31sINFOmove_group* - kinematics_service ×2 + 0.31sINFOmove_group* - save_geometry_to_file ×2 + 0.31sINFOmove_group* - GetPlanningGroups ×2 + 0.31sINFOmove_group* - SetActiveControllerService ×2 + 0.31sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.32sINFOmove_group[0m ×2 + 0.32sINFOmove_group[92mYou can start planning now![0m ×2 + 0.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.685] [info] Controller state will be published at 10 Hz. ×2 + 0.44sINFOros2_control_node[2026-06-10 14:03:44.686] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.76sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.76sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.79sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.05sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.05sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.08sINFOplatform_velocity_controller_nav2configure successful + 1.08sINFOros2_control_nodeconfigure successful[0m ×4 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.47sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.47sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.48sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.48sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.48sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.87sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.12sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.12sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.12sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 2.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 2.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.15sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.15sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.15sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 2.16sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 2.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.77sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.79sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 3.12sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 3.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.38sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.40sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.42sINFOplatform_velocity_controllerconfigure successful + 3.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.43sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 4.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.02sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 4.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 4.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.28sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 4.29sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 4.65sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.90sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.93sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.94sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 5.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 53 warnings · 1356 info |
+ 0.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 0.03sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 0.07sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.07sINFOmove_groupMoveGroup debug mode is ON + 0.07sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10910] ×2 + 0.15sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.15sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.20sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.22sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.23sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.31sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.31sINFOmove_group ×8 + 0.31sINFOmove_group******************************************************** ×4 + 0.31sINFOmove_group* MoveGroup using: ×2 + 0.31sINFOmove_group* - apply_planning_scene_service ×2 + 0.31sINFOmove_group* - clear_octomap_service ×2 + 0.31sINFOmove_group* - ExecuteTaskSolution ×2 + 0.31sINFOmove_group* - get_group_urdf ×2 + 0.31sINFOmove_group* - load_geometry_from_file ×2 + 0.31sINFOmove_group* - get_planning_scene_service ×2 + 0.31sINFOmove_group* - kinematics_service ×2 + 0.31sINFOmove_group* - save_geometry_to_file ×2 + 0.31sINFOmove_group* - GetPlanningGroups ×2 + 0.31sINFOmove_group* - SetActiveControllerService ×2 + 0.31sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.32sINFOmove_group[0m ×2 + 0.32sINFOmove_group[92mYou can start planning now![0m ×2 + 0.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.685] [info] Controller state will be published at 10 Hz. ×2 + 0.44sINFOros2_control_node[2026-06-10 14:03:44.686] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.76sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.76sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.79sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.05sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.05sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.08sINFOplatform_velocity_controller_nav2configure successful + 1.08sINFOros2_control_nodeconfigure successful[0m ×4 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.47sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.47sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.48sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.48sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.48sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.87sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.12sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.12sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.12sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 2.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 2.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.15sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.15sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.15sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 2.16sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 2.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.77sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.79sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 3.12sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 3.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.38sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.40sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.42sINFOplatform_velocity_controllerconfigure successful + 3.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.43sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 4.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.02sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 4.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 4.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.28sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 4.29sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 4.65sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.90sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.93sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.94sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 5.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 53 warnings · 1356 info |
+ 0.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 0.03sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 0.07sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 0.07sINFOmove_groupMoveGroup debug mode is ON + 0.07sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 0.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 0.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 10910] ×2 + 0.15sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.15sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.15sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.20sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.22sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.22sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.23sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.24sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.31sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 0.31sINFOmove_group ×8 + 0.31sINFOmove_group******************************************************** ×4 + 0.31sINFOmove_group* MoveGroup using: ×2 + 0.31sINFOmove_group* - apply_planning_scene_service ×2 + 0.31sINFOmove_group* - clear_octomap_service ×2 + 0.31sINFOmove_group* - ExecuteTaskSolution ×2 + 0.31sINFOmove_group* - get_group_urdf ×2 + 0.31sINFOmove_group* - load_geometry_from_file ×2 + 0.31sINFOmove_group* - get_planning_scene_service ×2 + 0.31sINFOmove_group* - kinematics_service ×2 + 0.31sINFOmove_group* - save_geometry_to_file ×2 + 0.31sINFOmove_group* - GetPlanningGroups ×2 + 0.31sINFOmove_group* - SetActiveControllerService ×2 + 0.31sINFOmove_group* - URDFPlanningSceneCapability ×2 + 0.32sINFOmove_group[0m ×2 + 0.32sINFOmove_group[92mYou can start planning now![0m ×2 + 0.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.43sINFOros2_control_node[2026-06-10 14:03:44.685] [info] Controller state will be published at 10 Hz. ×2 + 0.44sINFOros2_control_node[2026-06-10 14:03:44.686] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.76sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.76sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.79sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.05sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.05sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.08sINFOplatform_velocity_controller_nav2configure successful + 1.08sINFOros2_control_nodeconfigure successful[0m ×4 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.47sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.47sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.48sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.48sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.48sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.87sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.12sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.12sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.12sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 2.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 2.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.15sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.15sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.15sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 2.16sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 2.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.77sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.79sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 3.12sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 3.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.38sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.40sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.42sINFOplatform_velocity_controllerconfigure successful + 3.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.43sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 4.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.02sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 4.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 4.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.28sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 4.29sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 4.65sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.90sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.93sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.94sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.24sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 5.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 warnings · 800 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 10243.286 us (Expected < 1666.667 us) --> Read time : 99.963 us, Update time : 9838.065 us, Write time : 305.258 us[0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 10913] ×2 + 0.10sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.36sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.36sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.36sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.37sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.39sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.39sINFOplatform_velocity_controller_nav2configure successful + 0.39sINFOros2_control_nodeconfigure successful[0m ×4 + 0.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.78sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.79sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.79sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.79sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.79sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.79sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 1.18sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.43sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 1.45sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 1.46sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.46sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.46sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.46sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.47sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 1.47sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.80sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.06sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.06sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.09sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.09sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.09sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.09sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.09sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.09sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.09sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.09sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 2.43sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.67sINFOmove_groupClearing octomap...[0m ×2 + 2.67sINFOmove_groupOctomap cleared.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.73sINFOplatform_velocity_controllerconfigure successful + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 3.05sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 3.31sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.31sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.31sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.31sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.31sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.33sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 3.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.33sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.35sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 3.35sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 3.35sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 3.37sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 3.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 3.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 3.60sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 3.60sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 4.21sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 4.21sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 4.21sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 4.21sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 4.22sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 4.22sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 4.24sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 4.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 4.24sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 4.24sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 4.25sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 4.25sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 4.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 4.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 4.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 5.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 6.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 45 warnings · 777 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 45 warnings · 775 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 10905] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.10sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.10sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428262 ms (missed cycles : 5).[0m ×2 + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 10908] ×2 + 0.49sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.75sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 0.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 0.77sWARNcontroller_managerOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us + 0.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 2063.663 us (Expected < 1666.667 us) --> Read time : 142.803 us, Update time : 1436.667 us, Write time : 484.193 us[0m ×2 + 0.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.78sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 3787.157 us (Expected < 1666.667 us) --> Read time : 94.003 us, Update time : 3236.193 us (Switch time : 3210.703 us (Switch chained mode time : 0.540 us, perform mode change time : 3.580 us, Activation time : 3201.053 us, Deactivation time : 0.700 us)), Write time : 456.961 us[0m ×2 + 0.79sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 10900] ×2 + 1.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630043 ms (missed cycles : 3).[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 1.40sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.40sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.40sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.40sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.41sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 10893] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781100227.60442686 seconds. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781100227.61470485 seconds ×3 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.02sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 10895] ×2 + 2.36sWARNcontroller_managerOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun might occur, Total time : 1748.984 us (Expected < 1666.667 us) --> Read time : 130.033 us, Update time : 1398.756 us, Write time : 220.195 us[0m ×2 + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930330 ms (missed cycles : 2).[0m ×2 + 2.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781100228.16094065 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781100228.17105961 seconds ×3 + 2.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 2.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 2.64sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.65sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 2.66sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 2.66sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 2.68sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 2.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 2.68sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.534] [info] Controller state will be published at 20 Hz. ×2 + 2.91sINFOros2_control_node[2026-06-10 14:03:48.535] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781100228.70782757 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781100228.85856819 seconds ×3 + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 10915] ×2 + 3.27sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.494 us (Expected < 1666.667 us) --> Read time : 99.913 us, Update time : 1742.565 us, Write time : 242.016 us[0m ×2 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288951 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv + 3.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pnav1obe --params-file /tmp/launch_params_so06yfv8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a97ng_lr --params-file /tmp/launch_params_xo_zustv [0m ×2 + 3.55sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 3.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 3.56sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 3.56sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 3.57sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 3.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781100229.42658925 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3251.094 us (Expected < 1666.667 us) --> Read time : 109.933 us, Update time : 2901.515 us (Switch time : 2853.474 us (Switch chained mode time : 0.560 us, perform mode change time : 2.650 us, Activation time : 2845.154 us, Deactivation time : 0.450 us)), Write time : 239.646 us[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781100229.49673653 seconds ×3 + 3.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 10892] ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781100230.03239369 seconds. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568568 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205233 ms (missed cycles : 2).[0m ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958623 ms (missed cycles : 5).[0m ×2 | ||||