67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.6s
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 | 71.3s | 3 errors · 327 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4730.274 us (Expected < 1666.667 us) --> Read time : 160.008 us, Update time : 4308.274 us, Write time : 261.992 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4730.274 us (Expected < 1666.667 us) --> Read time : 160.008 us, Update time : 4308.274 us, Write time : 261.992 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616728 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616728 ms (missed cycles : 4).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232459 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232459 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 6655.487 us (Expected < 1666.667 us) --> Read time : 78.854 us, Update time : 6210.446 us, Write time : 366.187 us + 2.09sWARNros2_control_nodeOverrun might occur, Total time : 6655.487 us (Expected < 1666.667 us) --> Read time : 78.854 us, Update time : 6210.446 us, Write time : 366.187 us[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207819 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207819 ms (missed cycles : 4).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781135083.85106754 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879469 ms (missed cycles : 5). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879469 ms (missed cycles : 5).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781135084.39574862 seconds. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.19e-06 s). ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 4710.372 us (Expected < 1666.667 us) --> Read time : 124.556 us, Update time : 4270.442 us, Write time : 315.374 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 4710.372 us (Expected < 1666.667 us) --> Read time : 124.556 us, Update time : 4270.442 us, Write time : 315.374 us[0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794842 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794842 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775778 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775778 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun might occur, Total time : 1963.343 us (Expected < 1666.667 us) --> Read time : 198.669 us, Update time : 301.955 us, Write time : 1462.719 us + 6.20sWARNros2_control_nodeOverrun might occur, Total time : 1963.343 us (Expected < 1666.667 us) --> Read time : 198.669 us, Update time : 301.955 us, Write time : 1462.719 us[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600914 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600914 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 2409.204 us (Expected < 1666.667 us) --> Read time : 129.146 us, Update time : 206.960 us, Write time : 2073.098 us + 7.36sWARNros2_control_nodeOverrun might occur, Total time : 2409.204 us (Expected < 1666.667 us) --> Read time : 129.146 us, Update time : 206.960 us, Write time : 2073.098 us[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587699 ms (missed cycles : 5). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587699 ms (missed cycles : 5).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012785 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012785 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun might occur, Total time : 1829.987 us (Expected < 1666.667 us) --> Read time : 100.555 us, Update time : 57.003 us, Write time : 1672.429 us + 8.71sWARNros2_control_nodeOverrun might occur, Total time : 1829.987 us (Expected < 1666.667 us) --> Read time : 100.555 us, Update time : 57.003 us, Write time : 1672.429 us[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539139 ms (missed cycles : 4). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539139 ms (missed cycles : 4).[0m ×2 + 9.87sWARNcontroller_managerOverrun might occur, Total time : 1999.795 us (Expected < 1666.667 us) --> Read time : 142.777 us, Update time : 148.537 us, Write time : 1708.481 us + 9.87sWARNros2_control_nodeOverrun might occur, Total time : 1999.795 us (Expected < 1666.667 us) --> Read time : 142.777 us, Update time : 148.537 us, Write time : 1708.481 us[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595818 ms (missed cycles : 6). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595818 ms (missed cycles : 6).[0m ×2 + 11.74sWARNcontroller_managerOverrun might occur, Total time : 2529.291 us (Expected < 1666.667 us) --> Read time : 113.536 us, Update time : 2128.581 us, Write time : 287.174 us + 11.75sWARNros2_control_nodeOverrun might occur, Total time : 2529.291 us (Expected < 1666.667 us) --> Read time : 113.536 us, Update time : 2128.581 us, Write time : 287.174 us[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440138 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440138 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527098 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527098 ms (missed cycles : 2).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612223 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612223 ms (missed cycles : 3).[0m ×2 + 14.25sWARNcontroller_managerOverrun might occur, Total time : 1726.132 us (Expected < 1666.667 us) --> Read time : 100.365 us, Update time : 182.378 us, Write time : 1443.389 us + 14.25sWARNros2_control_nodeOverrun might occur, Total time : 1726.132 us (Expected < 1666.667 us) --> Read time : 100.365 us, Update time : 182.378 us, Write time : 1443.389 us[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397894 ms (missed cycles : 4). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397894 ms (missed cycles : 4).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161717 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161717 ms (missed cycles : 2).[0m ×2 + 16.78sWARNcontroller_managerOverrun might occur, Total time : 1762.574 us (Expected < 1666.667 us) --> Read time : 1413.187 us, Update time : 100.715 us, Write time : 248.672 us + 16.79sWARNros2_control_nodeOverrun might occur, Total time : 1762.574 us (Expected < 1666.667 us) --> Read time : 1413.187 us, Update time : 100.715 us, Write time : 248.672 us[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237687 ms (missed cycles : 5). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237687 ms (missed cycles : 5).[0m ×2 + 18.02sWARNcontroller_managerOverrun might occur, Total time : 2424.545 us (Expected < 1666.667 us) --> Read time : 112.725 us, Update time : 165.968 us, Write time : 2145.852 us + 18.02sWARNros2_control_nodeOverrun might occur, Total time : 2424.545 us (Expected < 1666.667 us) --> Read time : 112.725 us, Update time : 165.968 us, Write time : 2145.852 us[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499571 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499571 ms (missed cycles : 3).[0m ×2 + 19.18sWARNcontroller_managerOverrun might occur, Total time : 3543.929 us (Expected < 1666.667 us) --> Read time : 130.856 us, Update time : 3134.689 us, Write time : 278.384 us + 19.18sWARNros2_control_nodeOverrun might occur, Total time : 3543.929 us (Expected < 1666.667 us) --> Read time : 130.856 us, Update time : 3134.689 us, Write time : 278.384 us[0m ×2 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933937 ms (missed cycles : 3). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933937 ms (missed cycles : 3).[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803296 ms (missed cycles : 5). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803296 ms (missed cycles : 5).[0m ×2 + 20.60sWARNcontroller_managerOverrun might occur, Total time : 1921.881 us (Expected < 1666.667 us) --> Read time : 1562.684 us, Update time : 124.616 us, Write time : 234.581 us + 20.60sWARNros2_control_nodeOverrun might occur, Total time : 1921.881 us (Expected < 1666.667 us) --> Read time : 1562.684 us, Update time : 124.616 us, Write time : 234.581 us[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898598 ms (missed cycles : 3). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898598 ms (missed cycles : 3).[0m ×2 + 21.96sWARNcontroller_managerOverrun might occur, Total time : 3203.583 us (Expected < 1666.667 us) --> Read time : 183.489 us, Update time : 2743.250 us, Write time : 276.844 us + 21.96sWARNros2_control_nodeOverrun might occur, Total time : 3203.583 us (Expected < 1666.667 us) --> Read time : 183.489 us, Update time : 2743.250 us, Write time : 276.844 us[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153001 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153001 ms (missed cycles : 2).[0m ×2 + 23.15sWARNcontroller_managerOverrun might occur, Total time : 1852.549 us (Expected < 1666.667 us) --> Read time : 338.826 us, Update time : 383.609 us, Write time : 1130.114 us + 23.16sWARNros2_control_nodeOverrun might occur, Total time : 1852.549 us (Expected < 1666.667 us) --> Read time : 338.826 us, Update time : 383.609 us, Write time : 1130.114 us[0m ×2 + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017201 ms (missed cycles : 2). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017201 ms (missed cycles : 2).[0m ×2 + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194091 ms (missed cycles : 3). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194091 ms (missed cycles : 3).[0m ×2 + 25.35sWARNcontroller_managerOverrun might occur, Total time : 2423.976 us (Expected < 1666.667 us) --> Read time : 93.005 us, Update time : 1973.534 us, Write time : 357.437 us + 25.35sWARNros2_control_nodeOverrun might occur, Total time : 2423.976 us (Expected < 1666.667 us) --> Read time : 93.005 us, Update time : 1973.534 us, Write time : 357.437 us[0m ×2 + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846465 ms (missed cycles : 2). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846465 ms (missed cycles : 2).[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882051 ms (missed cycles : 5). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882051 ms (missed cycles : 5).[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359430 ms (missed cycles : 3). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359430 ms (missed cycles : 3).[0m ×2 + 28.67sWARNcontroller_managerOverrun might occur, Total time : 1820.667 us (Expected < 1666.667 us) --> Read time : 83.034 us, Update time : 1530.003 us, Write time : 207.630 us + 28.67sWARNros2_control_nodeOverrun might occur, Total time : 1820.667 us (Expected < 1666.667 us) --> Read time : 83.034 us, Update time : 1530.003 us, Write time : 207.630 us[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658859 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658859 ms (missed cycles : 3).[0m ×2 + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164284 ms (missed cycles : 4). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164284 ms (missed cycles : 4).[0m ×2 + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328810 ms (missed cycles : 4). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328810 ms (missed cycles : 4).[0m ×2 + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996802 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996802 ms (missed cycles : 2).[0m ×2 + 32.42sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.42sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.59sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 32.81sWARNcontroller_managerOverrun might occur, Total time : 2357.233 us (Expected < 1666.667 us) --> Read time : 85.374 us, Update time : 1982.685 us, Write time : 289.174 us + 32.81sWARNros2_control_nodeOverrun might occur, Total time : 2357.233 us (Expected < 1666.667 us) --> Read time : 85.374 us, Update time : 1982.685 us, Write time : 289.174 us[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278706 ms (missed cycles : 7). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278706 ms (missed cycles : 7).[0m ×2 + 33.27sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256052 ms (missed cycles : 2). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256052 ms (missed cycles : 2).[0m ×2 + 34.60sWARNcontroller_managerOverrun might occur, Total time : 3341.379 us (Expected < 1666.667 us) --> Read time : 72.204 us, Update time : 3012.923 us, Write time : 256.252 us + 34.61sWARNros2_control_nodeOverrun might occur, Total time : 3341.379 us (Expected < 1666.667 us) --> Read time : 72.204 us, Update time : 3012.923 us, Write time : 256.252 us[0m ×2 + 35.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317080 ms (missed cycles : 4). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317080 ms (missed cycles : 4).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199767 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199767 ms (missed cycles : 4).[0m ×2 + 36.64sWARNcontroller_managerOverrun might occur, Total time : 5486.640 us (Expected < 1666.667 us) --> Read time : 100.835 us, Update time : 5040.129 us, Write time : 345.676 us + 36.64sWARNros2_control_nodeOverrun might occur, Total time : 5486.640 us (Expected < 1666.667 us) --> Read time : 100.835 us, Update time : 5040.129 us, Write time : 345.676 us[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489579 ms (missed cycles : 3). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489579 ms (missed cycles : 3).[0m ×2 + 38.13sWARNcontroller_managerOverrun might occur, Total time : 1845.178 us (Expected < 1666.667 us) --> Read time : 95.155 us, Update time : 1543.624 us, Write time : 206.399 us + 38.13sWARNros2_control_nodeOverrun might occur, Total time : 1845.178 us (Expected < 1666.667 us) --> Read time : 95.155 us, Update time : 1543.624 us, Write time : 206.399 us[0m ×2 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160311 ms (missed cycles : 2). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160311 ms (missed cycles : 2).[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052181 ms (missed cycles : 2). + 39.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052181 ms (missed cycles : 2).[0m ×2 + 39.31sWARNcontroller_managerOverrun might occur, Total time : 4981.817 us (Expected < 1666.667 us) --> Read time : 126.726 us, Update time : 4487.494 us, Write time : 367.597 us + 39.31sWARNros2_control_nodeOverrun might occur, Total time : 4981.817 us (Expected < 1666.667 us) --> Read time : 126.726 us, Update time : 4487.494 us, Write time : 367.597 us[0m ×2 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046736 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046736 ms (missed cycles : 3).[0m ×2 + 40.55sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247968 ms (missed cycles : 2). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247968 ms (missed cycles : 2).[0m ×2 + 41.79sWARNcontroller_managerOverrun might occur, Total time : 4908.063 us (Expected < 1666.667 us) --> Read time : 126.286 us, Update time : 4496.443 us, Write time : 285.334 us + 41.79sWARNros2_control_nodeOverrun might occur, Total time : 4908.063 us (Expected < 1666.667 us) --> Read time : 126.286 us, Update time : 4496.443 us, Write time : 285.334 us[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798898 ms (missed cycles : 5). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798898 ms (missed cycles : 5).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257133 ms (missed cycles : 4). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257133 ms (missed cycles : 4).[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980336 ms (missed cycles : 3). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980336 ms (missed cycles : 3).[0m ×2 + 45.32sWARNcontroller_managerOverrun might occur, Total time : 1945.712 us (Expected < 1666.667 us) --> Read time : 121.616 us, Update time : 1519.402 us, Write time : 304.694 us + 45.32sWARNros2_control_nodeOverrun might occur, Total time : 1945.712 us (Expected < 1666.667 us) --> Read time : 121.616 us, Update time : 1519.402 us, Write time : 304.694 us[0m ×2 + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397369 ms (missed cycles : 3). + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397369 ms (missed cycles : 3).[0m ×2 + 46.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628379 ms (missed cycles : 3). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628379 ms (missed cycles : 3).[0m ×2 + 47.20sWARNcontroller_managerOverrun might occur, Total time : 3781.770 us (Expected < 1666.667 us) --> Read time : 88.094 us, Update time : 3426.633 us, Write time : 267.043 us + 47.20sWARNros2_control_nodeOverrun might occur, Total time : 3781.770 us (Expected < 1666.667 us) --> Read time : 88.094 us, Update time : 3426.633 us, Write time : 267.043 us[0m ×2 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553426 ms (missed cycles : 4). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553426 ms (missed cycles : 4).[0m ×2 + 48.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459484 ms (missed cycles : 2). + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459484 ms (missed cycles : 2).[0m ×2 + 48.92sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799954 ms (missed cycles : 2). + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799954 ms (missed cycles : 2).[0m ×2 + 50.52sWARNcontroller_managerOverrun might occur, Total time : 4693.493 us (Expected < 1666.667 us) --> Read time : 96.075 us, Update time : 4300.054 us, Write time : 297.364 us + 50.52sWARNros2_control_nodeOverrun might occur, Total time : 4693.493 us (Expected < 1666.667 us) --> Read time : 96.075 us, Update time : 4300.054 us, Write time : 297.364 us[0m ×2 + 50.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491204 ms (missed cycles : 5). + 50.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491204 ms (missed cycles : 5).[0m ×2 + 51.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004096 ms (missed cycles : 3). + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004096 ms (missed cycles : 3).[0m ×2 + 53.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031790 ms (missed cycles : 4). + 53.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031790 ms (missed cycles : 4).[0m ×2 + 54.06sWARNcontroller_managerOverrun might occur, Total time : 2917.220 us (Expected < 1666.667 us) --> Read time : 116.696 us, Update time : 2461.508 us, Write time : 339.016 us + 54.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306019 ms (missed cycles : 2). + 54.06sWARNros2_control_nodeOverrun might occur, Total time : 2917.220 us (Expected < 1666.667 us) --> Read time : 116.696 us, Update time : 2461.508 us, Write time : 339.016 us[0m ×2 + 54.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306019 ms (missed cycles : 2).[0m ×2 + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.806378 ms (missed cycles : 5). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.806378 ms (missed cycles : 5).[0m ×2 + 55.64sWARNcontroller_managerOverrun might occur, Total time : 1855.237 us (Expected < 1666.667 us) --> Read time : 95.484 us, Update time : 1498.381 us, Write time : 261.372 us + 55.64sWARNros2_control_nodeOverrun might occur, Total time : 1855.237 us (Expected < 1666.667 us) --> Read time : 95.484 us, Update time : 1498.381 us, Write time : 261.372 us[0m ×2 + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301725 ms (missed cycles : 2). + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301725 ms (missed cycles : 2).[0m ×2 + 57.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961254 ms (missed cycles : 2). + 57.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961254 ms (missed cycles : 2).[0m ×2 + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685143 ms (missed cycles : 3). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685143 ms (missed cycles : 3).[0m ×2 + 58.41sWARNcontroller_managerOverrun might occur, Total time : 1782.034 us (Expected < 1666.667 us) --> Read time : 91.714 us, Update time : 1469.390 us, Write time : 220.930 us + 58.41sWARNros2_control_nodeOverrun might occur, Total time : 1782.034 us (Expected < 1666.667 us) --> Read time : 91.714 us, Update time : 1469.390 us, Write time : 220.930 us[0m ×2 + 59.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511046 ms (missed cycles : 2). + 59.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511046 ms (missed cycles : 2).[0m ×2 + 59.56sWARNcontroller_managerOverrun might occur, Total time : 1915.861 us (Expected < 1666.667 us) --> Read time : 111.955 us, Update time : 1552.294 us, Write time : 251.612 us + 59.56sWARNros2_control_nodeOverrun might occur, Total time : 1915.861 us (Expected < 1666.667 us) --> Read time : 111.955 us, Update time : 1552.294 us, Write time : 251.612 us[0m ×2 + 60.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218280 ms (missed cycles : 4). + 60.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218280 ms (missed cycles : 4).[0m ×2 + 60.77sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 61.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416905 ms (missed cycles : 3). + 61.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416905 ms (missed cycles : 3).[0m ×2 + 62.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614694 ms (missed cycles : 3). + 62.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614694 ms (missed cycles : 3).[0m ×2 + 63.64sWARNcontroller_managerOverrun might occur, Total time : 2187.575 us (Expected < 1666.667 us) --> Read time : 109.506 us, Update time : 1833.757 us, Write time : 244.312 us + 63.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433132 ms (missed cycles : 2). + 63.64sWARNros2_control_nodeOverrun might occur, Total time : 2187.575 us (Expected < 1666.667 us) --> Read time : 109.506 us, Update time : 1833.757 us, Write time : 244.312 us[0m ×2 + 63.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433132 ms (missed cycles : 2).[0m ×2 + 64.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248439 ms (missed cycles : 4). + 64.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248439 ms (missed cycles : 4).[0m ×2 + 64.65sWARNcontroller_managerOverrun might occur, Total time : 2743.561 us (Expected < 1666.667 us) --> Read time : 108.305 us, Update time : 682.063 us, Write time : 1953.193 us + 64.65sWARNros2_control_nodeOverrun might occur, Total time : 2743.561 us (Expected < 1666.667 us) --> Read time : 108.305 us, Update time : 682.063 us, Write time : 1953.193 us[0m ×2 + 65.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475025 ms (missed cycles : 5). + 65.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475025 ms (missed cycles : 5).[0m ×2 + 66.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192638 ms (missed cycles : 2). + 66.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192638 ms (missed cycles : 2).[0m ×2 + 67.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062660 ms (missed cycles : 2). + 67.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062660 ms (missed cycles : 2).[0m ×2 + 68.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986834 ms (missed cycles : 6). + 68.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986834 ms (missed cycles : 6).[0m ×2 + 69.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582557 ms (missed cycles : 4). + 69.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582557 ms (missed cycles : 4).[0m ×2 + 70.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 70.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 71.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 71.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 72.29sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 72.29sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 73.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 73.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 74.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 74.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 74.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 75.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 75.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 75.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 75.17sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 75.17sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 75.50sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 76.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 76.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 76.63sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 77.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 77.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 77.38sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 77.38sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.5s | 261 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4).[0m ×2 + 0.21sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.21sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781134923.62848926 seconds ×3 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.76sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781134924.16708302 seconds. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us + 1.12sWARNros2_control_nodeOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (1.9351e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781134927.07722521 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495046 ms (missed cycles : 3). + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781134927.61762309 seconds. ×3 + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495046 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797046 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797046 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun might occur, Total time : 2736.819 us (Expected < 1666.667 us) --> Read time : 194.899 us, Update time : 2219.185 us, Write time : 322.735 us + 5.36sWARNros2_control_nodeOverrun might occur, Total time : 2736.819 us (Expected < 1666.667 us) --> Read time : 194.899 us, Update time : 2219.185 us, Write time : 322.735 us[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849071 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849071 ms (missed cycles : 5).[0m ×2 + 6.96sWARNcontroller_managerOverrun might occur, Total time : 1970.433 us (Expected < 1666.667 us) --> Read time : 121.305 us, Update time : 65.504 us, Write time : 1783.624 us + 6.96sWARNros2_control_nodeOverrun might occur, Total time : 1970.433 us (Expected < 1666.667 us) --> Read time : 121.305 us, Update time : 65.504 us, Write time : 1783.624 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756776 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756776 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525936 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525936 ms (missed cycles : 3).[0m ×2 + 9.18sWARNcontroller_managerOverrun might occur, Total time : 1784.075 us (Expected < 1666.667 us) --> Read time : 636.490 us, Update time : 943.895 us, Write time : 203.690 us + 9.18sWARNros2_control_nodeOverrun might occur, Total time : 1784.075 us (Expected < 1666.667 us) --> Read time : 636.490 us, Update time : 943.895 us, Write time : 203.690 us[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737053 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737053 ms (missed cycles : 4).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051281 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051281 ms (missed cycles : 3).[0m ×2 + 10.72sWARNcontroller_managerOverrun might occur, Total time : 4496.271 us (Expected < 1666.667 us) --> Read time : 108.415 us, Update time : 4074.151 us, Write time : 313.705 us + 10.72sWARNros2_control_nodeOverrun might occur, Total time : 4496.271 us (Expected < 1666.667 us) --> Read time : 108.415 us, Update time : 4074.151 us, Write time : 313.705 us[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923671 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923671 ms (missed cycles : 2).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642505 ms (missed cycles : 3). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642505 ms (missed cycles : 3).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815982 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815982 ms (missed cycles : 2).[0m ×2 + 14.01sWARNcontroller_managerOverrun might occur, Total time : 1965.743 us (Expected < 1666.667 us) --> Read time : 138.246 us, Update time : 219.941 us, Write time : 1607.556 us + 14.01sWARNros2_control_nodeOverrun might occur, Total time : 1965.743 us (Expected < 1666.667 us) --> Read time : 138.246 us, Update time : 219.941 us, Write time : 1607.556 us[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197247 ms (missed cycles : 4). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197247 ms (missed cycles : 4).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596809 ms (missed cycles : 4). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596809 ms (missed cycles : 4).[0m ×2 + 16.61sWARNcontroller_managerOverrun might occur, Total time : 2202.103 us (Expected < 1666.667 us) --> Read time : 85.854 us, Update time : 1890.099 us, Write time : 226.150 us + 16.61sWARNros2_control_nodeOverrun might occur, Total time : 2202.103 us (Expected < 1666.667 us) --> Read time : 85.854 us, Update time : 1890.099 us, Write time : 226.150 us[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793264 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793264 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849968 ms (missed cycles : 5). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849968 ms (missed cycles : 5).[0m ×2 + 17.69sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.76sWARNcontroller_managerOverrun might occur, Total time : 4052.802 us (Expected < 1666.667 us) --> Read time : 250.062 us, Update time : 173.859 us, Write time : 3628.881 us + 17.76sWARNros2_control_nodeOverrun might occur, Total time : 4052.802 us (Expected < 1666.667 us) --> Read time : 250.062 us, Update time : 173.859 us, Write time : 3628.881 us[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856698 ms (missed cycles : 5). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856698 ms (missed cycles : 5).[0m ×2 + 19.22sWARNcontroller_managerOverrun might occur, Total time : 3149.019 us (Expected < 1666.667 us) --> Read time : 74.944 us, Update time : 2800.362 us, Write time : 273.713 us + 19.22sWARNros2_control_nodeOverrun might occur, Total time : 3149.019 us (Expected < 1666.667 us) --> Read time : 74.944 us, Update time : 2800.362 us, Write time : 273.713 us[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879515 ms (missed cycles : 2). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879515 ms (missed cycles : 2).[0m ×2 + 20.66sWARNcontroller_managerOverrun might occur, Total time : 3318.277 us (Expected < 1666.667 us) --> Read time : 78.674 us, Update time : 2900.107 us, Write time : 339.496 us + 20.66sWARNros2_control_nodeOverrun might occur, Total time : 3318.277 us (Expected < 1666.667 us) --> Read time : 78.674 us, Update time : 2900.107 us, Write time : 339.496 us[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519405 ms (missed cycles : 3). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519405 ms (missed cycles : 3).[0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309329 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309329 ms (missed cycles : 2).[0m ×2 + 22.16sWARNcontroller_managerOverrun might occur, Total time : 2723.048 us (Expected < 1666.667 us) --> Read time : 107.805 us, Update time : 2351.141 us, Write time : 264.102 us + 22.16sWARNros2_control_nodeOverrun might occur, Total time : 2723.048 us (Expected < 1666.667 us) --> Read time : 107.805 us, Update time : 2351.141 us, Write time : 264.102 us[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378002 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378002 ms (missed cycles : 3).[0m ×2 + 23.59sWARNcontroller_managerOverrun might occur, Total time : 2474.967 us (Expected < 1666.667 us) --> Read time : 139.557 us, Update time : 2066.787 us, Write time : 268.623 us + 23.59sWARNros2_control_nodeOverrun might occur, Total time : 2474.967 us (Expected < 1666.667 us) --> Read time : 139.557 us, Update time : 2066.787 us, Write time : 268.623 us[0m ×2 + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461149 ms (missed cycles : 4). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461149 ms (missed cycles : 4).[0m ×2 + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411999 ms (missed cycles : 3). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411999 ms (missed cycles : 3).[0m ×2 + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074418 ms (missed cycles : 3). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074418 ms (missed cycles : 3).[0m ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121442 ms (missed cycles : 3). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121442 ms (missed cycles : 3).[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817127 ms (missed cycles : 3). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817127 ms (missed cycles : 3).[0m ×2 + 28.23sWARNcontroller_managerOverrun might occur, Total time : 2111.959 us (Expected < 1666.667 us) --> Read time : 88.224 us, Update time : 1785.934 us, Write time : 237.801 us + 28.23sWARNros2_control_nodeOverrun might occur, Total time : 2111.959 us (Expected < 1666.667 us) --> Read time : 88.224 us, Update time : 1785.934 us, Write time : 237.801 us[0m ×2 + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486322 ms (missed cycles : 3). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486322 ms (missed cycles : 3).[0m ×2 + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472799 ms (missed cycles : 3). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472799 ms (missed cycles : 3).[0m ×2 + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395162 ms (missed cycles : 2). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395162 ms (missed cycles : 2).[0m ×2 + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914357 ms (missed cycles : 3). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914357 ms (missed cycles : 3).[0m ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030166 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030166 ms (missed cycles : 2).[0m ×2 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692829 ms (missed cycles : 5). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692829 ms (missed cycles : 5).[0m ×2 + 34.39sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907321 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907321 ms (missed cycles : 2).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.004385 ms (missed cycles : 7). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.004385 ms (missed cycles : 7).[0m ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360663 ms (missed cycles : 3). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360663 ms (missed cycles : 3).[0m ×2 + 37.60sWARNcontroller_managerOverrun might occur, Total time : 2218.104 us (Expected < 1666.667 us) --> Read time : 89.964 us, Update time : 1850.957 us, Write time : 277.183 us + 37.60sWARNros2_control_nodeOverrun might occur, Total time : 2218.104 us (Expected < 1666.667 us) --> Read time : 89.964 us, Update time : 1850.957 us, Write time : 277.183 us[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646011 ms (missed cycles : 2). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646011 ms (missed cycles : 2).[0m ×2 + 38.61sWARNcontroller_managerOverrun might occur, Total time : 1724.932 us (Expected < 1666.667 us) --> Read time : 111.765 us, Update time : 1313.882 us, Write time : 299.285 us + 38.61sWARNros2_control_nodeOverrun might occur, Total time : 1724.932 us (Expected < 1666.667 us) --> Read time : 111.765 us, Update time : 1313.882 us, Write time : 299.285 us[0m ×2 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769204 ms (missed cycles : 5). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769204 ms (missed cycles : 5).[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890449 ms (missed cycles : 2). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890449 ms (missed cycles : 2).[0m ×2 + 40.71sWARNcontroller_managerOverrun might occur, Total time : 1820.706 us (Expected < 1666.667 us) --> Read time : 105.385 us, Update time : 97.545 us, Write time : 1617.776 us + 40.71sWARNros2_control_nodeOverrun might occur, Total time : 1820.706 us (Expected < 1666.667 us) --> Read time : 105.385 us, Update time : 97.545 us, Write time : 1617.776 us[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503664 ms (missed cycles : 3). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503664 ms (missed cycles : 3).[0m ×2 + 42.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375705 ms (missed cycles : 3). + 42.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375705 ms (missed cycles : 3).[0m ×2 + 43.28sWARNcontroller_managerOverrun might occur, Total time : 1827.466 us (Expected < 1666.667 us) --> Read time : 96.555 us, Update time : 1488.180 us, Write time : 242.731 us + 43.28sWARNros2_control_nodeOverrun might occur, Total time : 1827.466 us (Expected < 1666.667 us) --> Read time : 96.555 us, Update time : 1488.180 us, Write time : 242.731 us[0m ×2 + 43.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120265 ms (missed cycles : 2). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120265 ms (missed cycles : 2).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166969 ms (missed cycles : 4). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166969 ms (missed cycles : 4).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709136 ms (missed cycles : 2). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709136 ms (missed cycles : 2).[0m ×2 + 47.05sWARNcontroller_managerOverrun might occur, Total time : 1695.440 us (Expected < 1666.667 us) --> Read time : 89.604 us, Update time : 1396.356 us, Write time : 209.480 us + 47.05sWARNros2_control_nodeOverrun might occur, Total time : 1695.440 us (Expected < 1666.667 us) --> Read time : 89.604 us, Update time : 1396.356 us, Write time : 209.480 us[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027112 ms (missed cycles : 4). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027112 ms (missed cycles : 4).[0m ×2 + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903001 ms (missed cycles : 5). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903001 ms (missed cycles : 5).[0m ×2 + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008065 ms (missed cycles : 4). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008065 ms (missed cycles : 4).[0m ×2 + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685017 ms (missed cycles : 2). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685017 ms (missed cycles : 2).[0m ×2 + 50.93sWARNcontroller_managerOverrun might occur, Total time : 3424.052 us (Expected < 1666.667 us) --> Read time : 160.358 us, Update time : 3005.271 us, Write time : 258.423 us + 50.93sWARNros2_control_nodeOverrun might occur, Total time : 3424.052 us (Expected < 1666.667 us) --> Read time : 160.358 us, Update time : 3005.271 us, Write time : 258.423 us[0m ×2 + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995180 ms (missed cycles : 3). + 51.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995180 ms (missed cycles : 3).[0m ×2 + 52.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239673 ms (missed cycles : 3). + 52.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239673 ms (missed cycles : 3).[0m ×2 + 52.95sWARNcontroller_managerOverrun might occur, Total time : 2964.590 us (Expected < 1666.667 us) --> Read time : 113.995 us, Update time : 2520.329 us, Write time : 330.266 us + 52.95sWARNros2_control_nodeOverrun might occur, Total time : 2964.590 us (Expected < 1666.667 us) --> Read time : 113.995 us, Update time : 2520.329 us, Write time : 330.266 us[0m ×2 + 53.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592584 ms (missed cycles : 6). + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592584 ms (missed cycles : 6).[0m ×2 + 54.02sWARNcontroller_managerOverrun might occur, Total time : 2013.365 us (Expected < 1666.667 us) --> Read time : 84.694 us, Update time : 1598.625 us, Write time : 330.046 us + 54.02sWARNros2_control_nodeOverrun might occur, Total time : 2013.365 us (Expected < 1666.667 us) --> Read time : 84.694 us, Update time : 1598.625 us, Write time : 330.046 us[0m ×2 + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521515 ms (missed cycles : 3). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521515 ms (missed cycles : 3).[0m ×2 + 55.07sWARNcontroller_managerOverrun might occur, Total time : 2942.618 us (Expected < 1666.667 us) --> Read time : 119.356 us, Update time : 2612.113 us, Write time : 211.149 us + 55.07sWARNros2_control_nodeOverrun might occur, Total time : 2942.618 us (Expected < 1666.667 us) --> Read time : 119.356 us, Update time : 2612.113 us, Write time : 211.149 us[0m ×2 + 55.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967072 ms (missed cycles : 4). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967072 ms (missed cycles : 4).[0m ×2 + 56.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907305 ms (missed cycles : 2). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907305 ms (missed cycles : 2).[0m ×2 + 57.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2). + 57.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2).[0m ×2 + 57.84sWARNcontroller_managerOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us + 57.84sWARNros2_control_nodeOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us[0m ×2 + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3). + 58.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3).[0m ×2 + 59.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3). + 59.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3).[0m ×2 + 60.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781134983.55776548 seconds ×3 + 60.44sWARNcontroller_managerOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us + 60.44sWARNros2_control_nodeOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us[0m ×2 + 60.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 60.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 60.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781134984.10834312 seconds. ×3 + 60.99sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 61.00sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2).[0m ×2 + 62.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4). + 62.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4).[0m ×2 + 63.05sWARNcontroller_managerOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us + 63.05sWARNros2_control_nodeOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.2s | 240 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.68sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.78sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.78sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104436 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104436 ms (missed cycles : 3).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805190 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805190 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719185 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719185 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun might occur, Total time : 1708.402 us (Expected < 1666.667 us) --> Read time : 104.245 us, Update time : 1322.443 us, Write time : 281.714 us + 9.32sWARNros2_control_nodeOverrun might occur, Total time : 1708.402 us (Expected < 1666.667 us) --> Read time : 104.245 us, Update time : 1322.443 us, Write time : 281.714 us[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446188 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446188 ms (missed cycles : 2).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830637 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830637 ms (missed cycles : 3).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011382 ms (missed cycles : 5). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011382 ms (missed cycles : 5).[0m ×2 + 13.08sWARNcontroller_managerOverrun might occur, Total time : 1923.472 us (Expected < 1666.667 us) --> Read time : 140.857 us, Update time : 179.968 us, Write time : 1602.647 us + 13.08sWARNros2_control_nodeOverrun might occur, Total time : 1923.472 us (Expected < 1666.667 us) --> Read time : 140.857 us, Update time : 179.968 us, Write time : 1602.647 us[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023739 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023739 ms (missed cycles : 2).[0m ×2 + 14.13sWARNcontroller_managerOverrun might occur, Total time : 1799.895 us (Expected < 1666.667 us) --> Read time : 95.694 us, Update time : 1413.207 us, Write time : 290.994 us + 14.13sWARNros2_control_nodeOverrun might occur, Total time : 1799.895 us (Expected < 1666.667 us) --> Read time : 95.694 us, Update time : 1413.207 us, Write time : 290.994 us[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206999 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206999 ms (missed cycles : 3).[0m ×2 + 15.34sWARNcontroller_managerOverrun might occur, Total time : 2205.965 us (Expected < 1666.667 us) --> Read time : 1785.815 us, Update time : 141.997 us, Write time : 278.153 us + 15.34sWARNros2_control_nodeOverrun might occur, Total time : 2205.965 us (Expected < 1666.667 us) --> Read time : 1785.815 us, Update time : 141.997 us, Write time : 278.153 us[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587910 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587910 ms (missed cycles : 3).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896997 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896997 ms (missed cycles : 2).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461296 ms (missed cycles : 2). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461296 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun might occur, Total time : 2195.154 us (Expected < 1666.667 us) --> Read time : 1817.036 us, Update time : 123.146 us, Write time : 254.972 us + 18.22sWARNros2_control_nodeOverrun might occur, Total time : 2195.154 us (Expected < 1666.667 us) --> Read time : 1817.036 us, Update time : 123.146 us, Write time : 254.972 us[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103294 ms (missed cycles : 3). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103294 ms (missed cycles : 3).[0m ×2 + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270612 ms (missed cycles : 3). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270612 ms (missed cycles : 3).[0m ×2 + 20.28sWARNcontroller_managerOverrun might occur, Total time : 3183.180 us (Expected < 1666.667 us) --> Read time : 116.185 us, Update time : 97.704 us, Write time : 2969.291 us + 20.29sWARNros2_control_nodeOverrun might occur, Total time : 3183.180 us (Expected < 1666.667 us) --> Read time : 116.185 us, Update time : 97.704 us, Write time : 2969.291 us[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426120 ms (missed cycles : 4). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426120 ms (missed cycles : 4).[0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993407 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993407 ms (missed cycles : 2).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610832 ms (missed cycles : 6). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610832 ms (missed cycles : 6).[0m ×2 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579749 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579749 ms (missed cycles : 2).[0m ×2 + 24.07sWARNcontroller_managerOverrun might occur, Total time : 4222.371 us (Expected < 1666.667 us) --> Read time : 97.115 us, Update time : 3838.372 us, Write time : 286.884 us + 24.07sWARNros2_control_nodeOverrun might occur, Total time : 4222.371 us (Expected < 1666.667 us) --> Read time : 97.115 us, Update time : 3838.372 us, Write time : 286.884 us[0m ×2 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755836 ms (missed cycles : 2). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755836 ms (missed cycles : 2).[0m ×2 + 25.38sWARNcontroller_managerOverrun might occur, Total time : 2257.897 us (Expected < 1666.667 us) --> Read time : 97.315 us, Update time : 1893.450 us, Write time : 267.132 us + 25.39sWARNros2_control_nodeOverrun might occur, Total time : 2257.897 us (Expected < 1666.667 us) --> Read time : 97.315 us, Update time : 1893.450 us, Write time : 267.132 us[0m ×2 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108427 ms (missed cycles : 2). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108427 ms (missed cycles : 2).[0m ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361373 ms (missed cycles : 4). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361373 ms (missed cycles : 4).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288829 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288829 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000884 ms (missed cycles : 4). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000884 ms (missed cycles : 4).[0m ×2 + 29.50sWARNcontroller_managerOverrun might occur, Total time : 2225.235 us (Expected < 1666.667 us) --> Read time : 100.204 us, Update time : 1905.511 us, Write time : 219.520 us + 29.51sWARNros2_control_nodeOverrun might occur, Total time : 2225.235 us (Expected < 1666.667 us) --> Read time : 100.204 us, Update time : 1905.511 us, Write time : 219.520 us[0m ×2 + 29.67sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612370 ms (missed cycles : 4). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612370 ms (missed cycles : 4).[0m ×2 + 30.65sWARNcontroller_managerOverrun might occur, Total time : 2990.312 us (Expected < 1666.667 us) --> Read time : 92.425 us, Update time : 2463.576 us, Write time : 434.311 us + 30.65sWARNros2_control_nodeOverrun might occur, Total time : 2990.312 us (Expected < 1666.667 us) --> Read time : 92.425 us, Update time : 2463.576 us, Write time : 434.311 us[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130836 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130836 ms (missed cycles : 2).[0m ×2 + 31.91sWARNcontroller_managerOverrun might occur, Total time : 4572.606 us (Expected < 1666.667 us) --> Read time : 80.274 us, Update time : 4208.199 us, Write time : 284.133 us + 31.91sWARNros2_control_nodeOverrun might occur, Total time : 4572.606 us (Expected < 1666.667 us) --> Read time : 80.274 us, Update time : 4208.199 us, Write time : 284.133 us[0m ×2 + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311993 ms (missed cycles : 4). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311993 ms (missed cycles : 4).[0m ×2 + 33.09sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579992 ms (missed cycles : 5). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579992 ms (missed cycles : 5).[0m ×2 + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915609 ms (missed cycles : 4). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915609 ms (missed cycles : 4).[0m ×2 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513996 ms (missed cycles : 2). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513996 ms (missed cycles : 2).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948692 ms (missed cycles : 3). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948692 ms (missed cycles : 3).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998782 ms (missed cycles : 5). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998782 ms (missed cycles : 5).[0m ×2 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872499 ms (missed cycles : 5). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872499 ms (missed cycles : 5).[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164014 ms (missed cycles : 2). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164014 ms (missed cycles : 2).[0m ×2 + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259814 ms (missed cycles : 4). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259814 ms (missed cycles : 4).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709074 ms (missed cycles : 3). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709074 ms (missed cycles : 3).[0m ×2 + 42.26sWARNcontroller_managerOverrun might occur, Total time : 2841.215 us (Expected < 1666.667 us) --> Read time : 119.066 us, Update time : 2442.716 us, Write time : 279.433 us + 42.26sWARNros2_control_nodeOverrun might occur, Total time : 2841.215 us (Expected < 1666.667 us) --> Read time : 119.066 us, Update time : 2442.716 us, Write time : 279.433 us[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501465 ms (missed cycles : 4). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501465 ms (missed cycles : 4).[0m ×2 + 43.38sWARNcontroller_managerOverrun might occur, Total time : 1812.445 us (Expected < 1666.667 us) --> Read time : 182.468 us, Update time : 1407.177 us, Write time : 222.800 us + 43.38sWARNros2_control_nodeOverrun might occur, Total time : 1812.445 us (Expected < 1666.667 us) --> Read time : 182.468 us, Update time : 1407.177 us, Write time : 222.800 us[0m ×2 + 43.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917782 ms (missed cycles : 2). + 43.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917782 ms (missed cycles : 2).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340028 ms (missed cycles : 4). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340028 ms (missed cycles : 4).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415380 ms (missed cycles : 4). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415380 ms (missed cycles : 4).[0m ×2 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039837 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039837 ms (missed cycles : 2).[0m ×2 + 46.77sWARNcontroller_managerOverrun might occur, Total time : 4464.671 us (Expected < 1666.667 us) --> Read time : 134.896 us, Update time : 4050.542 us, Write time : 279.233 us + 46.77sWARNros2_control_nodeOverrun might occur, Total time : 4464.671 us (Expected < 1666.667 us) --> Read time : 134.896 us, Update time : 4050.542 us, Write time : 279.233 us[0m ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242965 ms (missed cycles : 7). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.242965 ms (missed cycles : 7).[0m ×2 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327188 ms (missed cycles : 2). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327188 ms (missed cycles : 2).[0m ×2 + 49.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021034 ms (missed cycles : 3). + 49.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021034 ms (missed cycles : 3).[0m ×2 + 50.86sWARNcontroller_managerOverrun might occur, Total time : 2311.979 us (Expected < 1666.667 us) --> Read time : 83.824 us, Update time : 2041.526 us, Write time : 186.629 us + 50.86sWARNros2_control_nodeOverrun might occur, Total time : 2311.979 us (Expected < 1666.667 us) --> Read time : 83.824 us, Update time : 2041.526 us, Write time : 186.629 us[0m ×2 + 51.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643606 ms (missed cycles : 3). + 51.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643606 ms (missed cycles : 3).[0m ×2 + 52.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899172 ms (missed cycles : 2). + 52.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899172 ms (missed cycles : 2).[0m ×2 + 53.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532980 ms (missed cycles : 4). + 53.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532980 ms (missed cycles : 4).[0m ×2 + 53.58sWARNcontroller_managerOverrun might occur, Total time : 1896.100 us (Expected < 1666.667 us) --> Read time : 92.944 us, Update time : 1518.852 us, Write time : 284.304 us + 53.59sWARNros2_control_nodeOverrun might occur, Total time : 1896.100 us (Expected < 1666.667 us) --> Read time : 92.944 us, Update time : 1518.852 us, Write time : 284.304 us[0m ×2 + 54.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481480 ms (missed cycles : 2). + 54.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481480 ms (missed cycles : 2).[0m ×2 + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128534 ms (missed cycles : 4). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128534 ms (missed cycles : 4).[0m ×2 + 56.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912184 ms (missed cycles : 2). + 56.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912184 ms (missed cycles : 2).[0m ×2 + 57.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133746 ms (missed cycles : 3). + 57.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133746 ms (missed cycles : 3).[0m ×2 + 58.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847210 ms (missed cycles : 3). + 58.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847210 ms (missed cycles : 3).[0m ×2 + 58.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781135210.34903240 seconds ×3 + 59.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781135210.89840484 seconds. ×3 + 59.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423095 ms (missed cycles : 3). + 59.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423095 ms (missed cycles : 3).[0m ×2 + 59.75sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 59.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 60.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 61.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236094 ms (missed cycles : 2). + 61.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236094 ms (missed cycles : 2).[0m ×2 + 61.55sWARNcontroller_managerOverrun might occur, Total time : 2876.007 us (Expected < 1666.667 us) --> Read time : 109.615 us, Update time : 2501.529 us, Write time : 264.863 us + 61.55sWARNros2_control_nodeOverrun might occur, Total time : 2876.007 us (Expected < 1666.667 us) --> Read time : 109.615 us, Update time : 2501.529 us, Write time : 264.863 us[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.5s | 252 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3).[0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us + 2.30sWARNros2_control_nodeOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781135019.75620985 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781135020.29988074 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5).[0m ×2 + 4.32sWARNcontroller_managerOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us + 4.32sWARNros2_control_nodeOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us[0m ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.00sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.00sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.00sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015604 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015604 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562022 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562022 ms (missed cycles : 3).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762491 ms (missed cycles : 5). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762491 ms (missed cycles : 5).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416775 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416775 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531781 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531781 ms (missed cycles : 3).[0m ×2 + 11.49sWARNcontroller_managerOverrun might occur, Total time : 2203.733 us (Expected < 1666.667 us) --> Read time : 108.895 us, Update time : 1813.825 us, Write time : 281.013 us + 11.49sWARNros2_control_nodeOverrun might occur, Total time : 2203.733 us (Expected < 1666.667 us) --> Read time : 108.895 us, Update time : 1813.825 us, Write time : 281.013 us[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677947 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677947 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857637 ms (missed cycles : 3). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857637 ms (missed cycles : 3).[0m ×2 + 14.37sWARNcontroller_managerOverrun might occur, Total time : 3474.985 us (Expected < 1666.667 us) --> Read time : 121.446 us, Update time : 69.203 us, Write time : 3284.336 us + 14.37sWARNros2_control_nodeOverrun might occur, Total time : 3474.985 us (Expected < 1666.667 us) --> Read time : 121.446 us, Update time : 69.203 us, Write time : 3284.336 us[0m ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375566 ms (missed cycles : 3). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375566 ms (missed cycles : 3).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923935 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923935 ms (missed cycles : 2).[0m ×2 + 16.06sWARNcontroller_managerOverrun might occur, Total time : 2021.135 us (Expected < 1666.667 us) --> Read time : 98.524 us, Update time : 1652.409 us, Write time : 270.202 us + 16.06sWARNros2_control_nodeOverrun might occur, Total time : 2021.135 us (Expected < 1666.667 us) --> Read time : 98.524 us, Update time : 1652.409 us, Write time : 270.202 us[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816942 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816942 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun might occur, Total time : 1996.335 us (Expected < 1666.667 us) --> Read time : 105.656 us, Update time : 83.473 us, Write time : 1807.206 us + 17.15sWARNros2_control_nodeOverrun might occur, Total time : 1996.335 us (Expected < 1666.667 us) --> Read time : 105.656 us, Update time : 83.473 us, Write time : 1807.206 us[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360549 ms (missed cycles : 3). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360549 ms (missed cycles : 3).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749861 ms (missed cycles : 2). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749861 ms (missed cycles : 2).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543668 ms (missed cycles : 3). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543668 ms (missed cycles : 3).[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237745 ms (missed cycles : 4). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237745 ms (missed cycles : 4).[0m ×2 + 21.46sWARNcontroller_managerOverrun might occur, Total time : 3109.847 us (Expected < 1666.667 us) --> Read time : 153.037 us, Update time : 2666.307 us, Write time : 290.503 us + 21.46sWARNros2_control_nodeOverrun might occur, Total time : 3109.847 us (Expected < 1666.667 us) --> Read time : 153.037 us, Update time : 2666.307 us, Write time : 290.503 us[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3).[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459711 ms (missed cycles : 3). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459711 ms (missed cycles : 3).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065191 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065191 ms (missed cycles : 2).[0m ×2 + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165926 ms (missed cycles : 4). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165926 ms (missed cycles : 4).[0m ×2 + 25.37sWARNcontroller_managerOverrun might occur, Total time : 2007.825 us (Expected < 1666.667 us) --> Read time : 125.646 us, Update time : 482.663 us, Write time : 1399.516 us + 25.37sWARNros2_control_nodeOverrun might occur, Total time : 2007.825 us (Expected < 1666.667 us) --> Read time : 125.646 us, Update time : 482.663 us, Write time : 1399.516 us[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756655 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756655 ms (missed cycles : 3).[0m ×2 + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110253 ms (missed cycles : 3). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110253 ms (missed cycles : 3).[0m ×2 + 27.79sWARNcontroller_managerOverrun might occur, Total time : 1745.282 us (Expected < 1666.667 us) --> Read time : 96.824 us, Update time : 1367.415 us, Write time : 281.043 us + 27.79sWARNros2_control_nodeOverrun might occur, Total time : 1745.282 us (Expected < 1666.667 us) --> Read time : 96.824 us, Update time : 1367.415 us, Write time : 281.043 us[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481932 ms (missed cycles : 3). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481932 ms (missed cycles : 3).[0m ×2 + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989503 ms (missed cycles : 2). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989503 ms (missed cycles : 2).[0m ×2 + 29.06sWARNcontroller_managerOverrun might occur, Total time : 3191.410 us (Expected < 1666.667 us) --> Read time : 75.363 us, Update time : 2848.955 us, Write time : 267.092 us + 29.06sWARNros2_control_nodeOverrun might occur, Total time : 3191.410 us (Expected < 1666.667 us) --> Read time : 75.363 us, Update time : 2848.955 us, Write time : 267.092 us[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689619 ms (missed cycles : 4). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689619 ms (missed cycles : 4).[0m ×2 + 31.07sWARNcontroller_managerOverrun might occur, Total time : 1717.181 us (Expected < 1666.667 us) --> Read time : 94.545 us, Update time : 1399.056 us, Write time : 223.580 us + 31.07sWARNros2_control_nodeOverrun might occur, Total time : 1717.181 us (Expected < 1666.667 us) --> Read time : 94.545 us, Update time : 1399.056 us, Write time : 223.580 us[0m ×2 + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993376 ms (missed cycles : 2). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993376 ms (missed cycles : 2).[0m ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696098 ms (missed cycles : 3). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696098 ms (missed cycles : 3).[0m ×2 + 32.50sWARNcontroller_managerOverrun might occur, Total time : 2310.439 us (Expected < 1666.667 us) --> Read time : 202.319 us, Update time : 1892.420 us, Write time : 215.700 us + 32.50sWARNros2_control_nodeOverrun might occur, Total time : 2310.439 us (Expected < 1666.667 us) --> Read time : 202.319 us, Update time : 1892.420 us, Write time : 215.700 us[0m ×2 + 32.67sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434917 ms (missed cycles : 3). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434917 ms (missed cycles : 3).[0m ×2 + 33.31sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 33.77sWARNcontroller_managerOverrun might occur, Total time : 1695.891 us (Expected < 1666.667 us) --> Read time : 80.874 us, Update time : 297.755 us, Write time : 1317.262 us + 33.77sWARNros2_control_nodeOverrun might occur, Total time : 1695.891 us (Expected < 1666.667 us) --> Read time : 80.874 us, Update time : 297.755 us, Write time : 1317.262 us[0m ×2 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196925 ms (missed cycles : 2). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196925 ms (missed cycles : 2).[0m ×2 + 35.21sWARNcontroller_managerOverrun might occur, Total time : 5444.678 us (Expected < 1666.667 us) --> Read time : 5021.658 us, Update time : 162.337 us, Write time : 260.683 us + 35.21sWARNros2_control_nodeOverrun might occur, Total time : 5444.678 us (Expected < 1666.667 us) --> Read time : 5021.658 us, Update time : 162.337 us, Write time : 260.683 us[0m ×2 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529138 ms (missed cycles : 3). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529138 ms (missed cycles : 3).[0m ×2 + 36.24sWARNcontroller_managerOverrun might occur, Total time : 5468.128 us (Expected < 1666.667 us) --> Read time : 80.284 us, Update time : 95.225 us, Write time : 5292.619 us + 36.24sWARNros2_control_nodeOverrun might occur, Total time : 5468.128 us (Expected < 1666.667 us) --> Read time : 80.284 us, Update time : 95.225 us, Write time : 5292.619 us[0m ×2 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140301 ms (missed cycles : 2). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140301 ms (missed cycles : 2).[0m ×2 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254665 ms (missed cycles : 3). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254665 ms (missed cycles : 3).[0m ×2 + 38.21sWARNcontroller_managerOverrun might occur, Total time : 3500.076 us (Expected < 1666.667 us) --> Read time : 92.074 us, Update time : 3069.986 us, Write time : 338.016 us + 38.21sWARNros2_control_nodeOverrun might occur, Total time : 3500.076 us (Expected < 1666.667 us) --> Read time : 92.074 us, Update time : 3069.986 us, Write time : 338.016 us[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844728 ms (missed cycles : 2). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844728 ms (missed cycles : 2).[0m ×2 + 39.35sWARNcontroller_managerOverrun might occur, Total time : 3392.442 us (Expected < 1666.667 us) --> Read time : 288.474 us, Update time : 2818.984 us, Write time : 284.984 us + 39.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589032 ms (missed cycles : 3). + 39.35sWARNros2_control_nodeOverrun might occur, Total time : 3392.442 us (Expected < 1666.667 us) --> Read time : 288.474 us, Update time : 2818.984 us, Write time : 284.984 us[0m ×2 + 39.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589032 ms (missed cycles : 3).[0m ×2 + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578768 ms (missed cycles : 3). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578768 ms (missed cycles : 3).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011931 ms (missed cycles : 4). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011931 ms (missed cycles : 4).[0m ×2 + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973640 ms (missed cycles : 2). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973640 ms (missed cycles : 2).[0m ×2 + 43.14sWARNcontroller_managerOverrun might occur, Total time : 4930.585 us (Expected < 1666.667 us) --> Read time : 81.234 us, Update time : 63.423 us, Write time : 4785.928 us + 43.14sWARNros2_control_nodeOverrun might occur, Total time : 4930.585 us (Expected < 1666.667 us) --> Read time : 81.234 us, Update time : 63.423 us, Write time : 4785.928 us[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621366 ms (missed cycles : 6). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621366 ms (missed cycles : 6).[0m ×2 + 44.56sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844350 ms (missed cycles : 3). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844350 ms (missed cycles : 3).[0m ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518374 ms (missed cycles : 3). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518374 ms (missed cycles : 3).[0m ×2 + 45.99sWARNcontroller_managerOverrun might occur, Total time : 2882.137 us (Expected < 1666.667 us) --> Read time : 2451.387 us, Update time : 137.696 us, Write time : 293.054 us + 45.99sWARNros2_control_nodeOverrun might occur, Total time : 2882.137 us (Expected < 1666.667 us) --> Read time : 2451.387 us, Update time : 137.696 us, Write time : 293.054 us[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557920 ms (missed cycles : 4). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557920 ms (missed cycles : 4).[0m ×2 + 47.90sWARNcontroller_managerOverrun might occur, Total time : 1803.235 us (Expected < 1666.667 us) --> Read time : 116.135 us, Update time : 82.454 us, Write time : 1604.646 us + 47.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992134 ms (missed cycles : 2). + 47.90sWARNros2_control_nodeOverrun might occur, Total time : 1803.235 us (Expected < 1666.667 us) --> Read time : 116.135 us, Update time : 82.454 us, Write time : 1604.646 us[0m ×2 + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992134 ms (missed cycles : 2).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881026 ms (missed cycles : 5). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881026 ms (missed cycles : 5).[0m ×2 + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708657 ms (missed cycles : 3). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708657 ms (missed cycles : 3).[0m ×2 + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656314 ms (missed cycles : 3). + 51.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656314 ms (missed cycles : 3).[0m ×2 + 52.06sWARNcontroller_managerOverrun might occur, Total time : 2237.777 us (Expected < 1666.667 us) --> Read time : 168.608 us, Update time : 1709.521 us, Write time : 359.648 us + 52.06sWARNros2_control_nodeOverrun might occur, Total time : 2237.777 us (Expected < 1666.667 us) --> Read time : 168.608 us, Update time : 1709.521 us, Write time : 359.648 us[0m ×2 + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146638 ms (missed cycles : 2). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146638 ms (missed cycles : 2).[0m ×2 + 53.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267998 ms (missed cycles : 2). + 53.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267998 ms (missed cycles : 2).[0m ×2 + 53.28sWARNcontroller_managerOverrun might occur, Total time : 1692.710 us (Expected < 1666.667 us) --> Read time : 1283.831 us, Update time : 150.377 us, Write time : 258.502 us + 53.28sWARNros2_control_nodeOverrun might occur, Total time : 1692.710 us (Expected < 1666.667 us) --> Read time : 1283.831 us, Update time : 150.377 us, Write time : 258.502 us[0m ×2 + 54.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304259 ms (missed cycles : 2). + 54.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304259 ms (missed cycles : 2).[0m ×2 + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535932 ms (missed cycles : 3). + 55.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535932 ms (missed cycles : 3).[0m ×2 + 55.99sWARNcontroller_managerOverrun might occur, Total time : 3225.933 us (Expected < 1666.667 us) --> Read time : 84.454 us, Update time : 2888.017 us, Write time : 253.462 us + 55.99sWARNros2_control_nodeOverrun might occur, Total time : 3225.933 us (Expected < 1666.667 us) --> Read time : 84.454 us, Update time : 2888.017 us, Write time : 253.462 us[0m ×2 + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685281 ms (missed cycles : 2). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685281 ms (missed cycles : 2).[0m ×2 + 56.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781135073.25001907 seconds ×3 + 57.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781135073.78699660 seconds. ×3 + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571504 ms (missed cycles : 3). + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571504 ms (missed cycles : 3).[0m ×2 + 57.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 57.60sWARNcontroller_managerOverrun might occur, Total time : 2145.291 us (Expected < 1666.667 us) --> Read time : 111.015 us, Update time : 1738.662 us, Write time : 295.614 us + 57.60sWARNros2_control_nodeOverrun might occur, Total time : 2145.291 us (Expected < 1666.667 us) --> Read time : 111.015 us, Update time : 1738.662 us, Write time : 295.614 us[0m ×2 + 58.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691623 ms (missed cycles : 3). + 58.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691623 ms (missed cycles : 3).[0m ×2 + 58.47sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786731 ms (missed cycles : 3). + 59.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786731 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 228 warnings · 663 info |
+ 0.00sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.33sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.33sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.33sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.33sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.34sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.39sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.39sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.40sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.42sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 0.66sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.96sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 0.96sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.00sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.04sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.04sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.05sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.05sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.21sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.21sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 3.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 4.82sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703788 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703788 ms (missed cycles : 5).[0m ×2 + 8.17sWARNcontroller_managerOverrun might occur, Total time : 1752.393 us (Expected < 1666.667 us) --> Read time : 111.855 us, Update time : 1333.573 us, Write time : 306.965 us + 8.17sWARNros2_control_nodeOverrun might occur, Total time : 1752.393 us (Expected < 1666.667 us) --> Read time : 111.855 us, Update time : 1333.573 us, Write time : 306.965 us[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718806 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718806 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080750 ms (missed cycles : 5). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080750 ms (missed cycles : 5).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774827 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774827 ms (missed cycles : 2).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171680 ms (missed cycles : 3). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171680 ms (missed cycles : 3).[0m ×2 + 11.49sWARNcontroller_managerOverrun might occur, Total time : 2038.697 us (Expected < 1666.667 us) --> Read time : 99.025 us, Update time : 1686.529 us, Write time : 253.143 us + 11.49sWARNros2_control_nodeOverrun might occur, Total time : 2038.697 us (Expected < 1666.667 us) --> Read time : 99.025 us, Update time : 1686.529 us, Write time : 253.143 us[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526398 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526398 ms (missed cycles : 3).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169233 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169233 ms (missed cycles : 2).[0m ×2 + 14.00sWARNcontroller_managerOverrun might occur, Total time : 4907.473 us (Expected < 1666.667 us) --> Read time : 186.899 us, Update time : 148.797 us, Write time : 4571.777 us + 14.01sWARNros2_control_nodeOverrun might occur, Total time : 4907.473 us (Expected < 1666.667 us) --> Read time : 186.899 us, Update time : 148.797 us, Write time : 4571.777 us[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514671 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514671 ms (missed cycles : 3).[0m ×2 + 15.11sWARNcontroller_managerOverrun might occur, Total time : 2016.356 us (Expected < 1666.667 us) --> Read time : 122.286 us, Update time : 1650.198 us, Write time : 243.872 us + 15.11sWARNros2_control_nodeOverrun might occur, Total time : 2016.356 us (Expected < 1666.667 us) --> Read time : 122.286 us, Update time : 1650.198 us, Write time : 243.872 us[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890206 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890206 ms (missed cycles : 2).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765656 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765656 ms (missed cycles : 3).[0m ×2 + 16.73sWARNcontroller_managerOverrun might occur, Total time : 2737.549 us (Expected < 1666.667 us) --> Read time : 108.605 us, Update time : 2384.783 us, Write time : 244.161 us + 16.73sWARNros2_control_nodeOverrun might occur, Total time : 2737.549 us (Expected < 1666.667 us) --> Read time : 108.605 us, Update time : 2384.783 us, Write time : 244.161 us[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111999 ms (missed cycles : 4). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111999 ms (missed cycles : 4).[0m ×2 + 18.57sWARNcontroller_managerOverrun might occur, Total time : 3555.069 us (Expected < 1666.667 us) --> Read time : 112.286 us, Update time : 3176.160 us, Write time : 266.623 us + 18.57sWARNros2_control_nodeOverrun might occur, Total time : 3555.069 us (Expected < 1666.667 us) --> Read time : 112.286 us, Update time : 3176.160 us, Write time : 266.623 us[0m ×2 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207588 ms (missed cycles : 4). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207588 ms (missed cycles : 4).[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325616 ms (missed cycles : 3). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325616 ms (missed cycles : 3).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519400 ms (missed cycles : 3). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519400 ms (missed cycles : 3).[0m ×2 + 21.10sWARNcontroller_managerOverrun might occur, Total time : 2705.727 us (Expected < 1666.667 us) --> Read time : 112.265 us, Update time : 2324.930 us, Write time : 268.532 us + 21.10sWARNros2_control_nodeOverrun might occur, Total time : 2705.727 us (Expected < 1666.667 us) --> Read time : 112.265 us, Update time : 2324.930 us, Write time : 268.532 us[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973560 ms (missed cycles : 2). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973560 ms (missed cycles : 2).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.110416 ms (missed cycles : 5). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.110416 ms (missed cycles : 5).[0m ×2 + 23.22sWARNcontroller_managerOverrun might occur, Total time : 1927.481 us (Expected < 1666.667 us) --> Read time : 93.024 us, Update time : 1606.606 us, Write time : 227.851 us + 23.22sWARNros2_control_nodeOverrun might occur, Total time : 1927.481 us (Expected < 1666.667 us) --> Read time : 93.024 us, Update time : 1606.606 us, Write time : 227.851 us[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890303 ms (missed cycles : 2). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890303 ms (missed cycles : 2).[0m ×2 + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732481 ms (missed cycles : 2). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732481 ms (missed cycles : 2).[0m ×2 + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811916 ms (missed cycles : 3). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811916 ms (missed cycles : 3).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474123 ms (missed cycles : 5). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474123 ms (missed cycles : 5).[0m ×2 + 27.92sWARNcontroller_managerOverrun might occur, Total time : 2219.225 us (Expected < 1666.667 us) --> Read time : 115.655 us, Update time : 143.087 us, Write time : 1960.483 us + 27.92sWARNros2_control_nodeOverrun might occur, Total time : 2219.225 us (Expected < 1666.667 us) --> Read time : 115.655 us, Update time : 143.087 us, Write time : 1960.483 us[0m ×2 + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850865 ms (missed cycles : 5). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850865 ms (missed cycles : 5).[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926174 ms (missed cycles : 3). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926174 ms (missed cycles : 3).[0m ×2 + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196568 ms (missed cycles : 4). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196568 ms (missed cycles : 4).[0m ×2 + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915085 ms (missed cycles : 2).[0m ×2 + 31.59sWARNcontroller_managerOverrun might occur, Total time : 2453.306 us (Expected < 1666.667 us) --> Read time : 295.914 us, Update time : 474.432 us, Write time : 1682.960 us + 31.59sWARNros2_control_nodeOverrun might occur, Total time : 2453.306 us (Expected < 1666.667 us) --> Read time : 295.914 us, Update time : 474.432 us, Write time : 1682.960 us[0m ×2 + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193758 ms (missed cycles : 2). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193758 ms (missed cycles : 2).[0m ×2 + 32.93sWARNcontroller_managerOverrun might occur, Total time : 2736.870 us (Expected < 1666.667 us) --> Read time : 145.887 us, Update time : 53.843 us, Write time : 2537.140 us + 32.93sWARNros2_control_nodeOverrun might occur, Total time : 2736.870 us (Expected < 1666.667 us) --> Read time : 145.887 us, Update time : 53.843 us, Write time : 2537.140 us[0m ×2 + 33.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055561 ms (missed cycles : 4). + 33.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055561 ms (missed cycles : 4).[0m ×2 + 34.30sWARNcontroller_managerOverrun might occur, Total time : 2173.613 us (Expected < 1666.667 us) --> Read time : 116.735 us, Update time : 1830.907 us, Write time : 225.971 us + 34.30sWARNros2_control_nodeOverrun might occur, Total time : 2173.613 us (Expected < 1666.667 us) --> Read time : 116.735 us, Update time : 1830.907 us, Write time : 225.971 us[0m ×2 + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567223 ms (missed cycles : 3). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567223 ms (missed cycles : 3).[0m ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861826 ms (missed cycles : 3). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861826 ms (missed cycles : 3).[0m ×2 + 36.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779398 ms (missed cycles : 3). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779398 ms (missed cycles : 3).[0m ×2 + 36.91sWARNcontroller_managerOverrun might occur, Total time : 1727.852 us (Expected < 1666.667 us) --> Read time : 105.865 us, Update time : 1385.386 us, Write time : 236.601 us + 36.91sWARNros2_control_nodeOverrun might occur, Total time : 1727.852 us (Expected < 1666.667 us) --> Read time : 105.865 us, Update time : 1385.386 us, Write time : 236.601 us[0m ×2 + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848197 ms (missed cycles : 2). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848197 ms (missed cycles : 2).[0m ×2 + 38.41sWARNcontroller_managerOverrun might occur, Total time : 2087.669 us (Expected < 1666.667 us) --> Read time : 100.705 us, Update time : 1677.300 us, Write time : 309.664 us + 38.41sWARNros2_control_nodeOverrun might occur, Total time : 2087.669 us (Expected < 1666.667 us) --> Read time : 100.705 us, Update time : 1677.300 us, Write time : 309.664 us[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569240 ms (missed cycles : 3). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569240 ms (missed cycles : 3).[0m ×2 + 39.47sWARNcontroller_managerOverrun might occur, Total time : 3226.234 us (Expected < 1666.667 us) --> Read time : 117.686 us, Update time : 2561.612 us, Write time : 546.936 us + 39.48sWARNros2_control_nodeOverrun might occur, Total time : 3226.234 us (Expected < 1666.667 us) --> Read time : 117.686 us, Update time : 2561.612 us, Write time : 546.936 us[0m ×2 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071428 ms (missed cycles : 3). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071428 ms (missed cycles : 3).[0m ×2 + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114582 ms (missed cycles : 4). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114582 ms (missed cycles : 4).[0m ×2 + 41.33sWARNcontroller_managerOverrun might occur, Total time : 3110.148 us (Expected < 1666.667 us) --> Read time : 69.263 us, Update time : 2690.378 us, Write time : 350.507 us + 41.33sWARNros2_control_nodeOverrun might occur, Total time : 3110.148 us (Expected < 1666.667 us) --> Read time : 69.263 us, Update time : 2690.378 us, Write time : 350.507 us[0m ×2 + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788084 ms (missed cycles : 2). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788084 ms (missed cycles : 2).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639428 ms (missed cycles : 4). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639428 ms (missed cycles : 4).[0m ×2 + 43.53sWARNcontroller_managerOverrun might occur, Total time : 3223.362 us (Expected < 1666.667 us) --> Read time : 119.535 us, Update time : 2831.085 us, Write time : 272.742 us + 43.53sWARNros2_control_nodeOverrun might occur, Total time : 3223.362 us (Expected < 1666.667 us) --> Read time : 119.535 us, Update time : 2831.085 us, Write time : 272.742 us[0m ×2 + 44.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727299 ms (missed cycles : 2). + 44.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727299 ms (missed cycles : 2).[0m ×2 + 45.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074917 ms (missed cycles : 4). + 45.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074917 ms (missed cycles : 4).[0m ×2 + 45.46sWARNcontroller_managerOverrun might occur, Total time : 6274.298 us (Expected < 1666.667 us) --> Read time : 66.523 us, Update time : 5930.021 us, Write time : 277.754 us + 45.46sWARNros2_control_nodeOverrun might occur, Total time : 6274.298 us (Expected < 1666.667 us) --> Read time : 66.523 us, Update time : 5930.021 us, Write time : 277.754 us[0m ×2 + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348259 ms (missed cycles : 3). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348259 ms (missed cycles : 3).[0m ×2 + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4).[0m ×2 + 47.34sINFOjoint_trajectory_controllerGoal reached, success! + 47.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781134923.62848926 seconds ×3 + 47.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781134924.16708302 seconds. ×3 + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4).[0m ×2 + 48.26sWARNcontroller_managerOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us + 48.26sWARNros2_control_nodeOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us[0m ×2 + 48.68sINFOobjective_server_nodeFound path in 0 iterations (1.9351e-05 s). ×2 + 48.69sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2).[0m ×2 + 49.33sWARNcontroller_managerOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us + 49.33sWARNros2_control_nodeOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us[0m ×2 + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.7s | 144 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4).[0m ×2 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543262 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543262 ms (missed cycles : 3).[0m ×2 + 1.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.92sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781134988.07847667 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127663 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127663 ms (missed cycles : 5).[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186499 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186499 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781134989.62606311 seconds. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (9.5e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996095 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996095 ms (missed cycles : 3).[0m ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 3420.832 us (Expected < 1666.667 us) --> Read time : 125.946 us, Update time : 2875.336 us, Write time : 419.550 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 3420.832 us (Expected < 1666.667 us) --> Read time : 125.946 us, Update time : 2875.336 us, Write time : 419.550 us[0m ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587306 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587306 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 1729.523 us (Expected < 1666.667 us) --> Read time : 95.365 us, Update time : 1366.065 us, Write time : 268.093 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 1729.523 us (Expected < 1666.667 us) --> Read time : 95.365 us, Update time : 1366.065 us, Write time : 268.093 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111239 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111239 ms (missed cycles : 4).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546331 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546331 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128711 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128711 ms (missed cycles : 4).[0m ×2 + 9.11sWARNcontroller_managerOverrun might occur, Total time : 2550.101 us (Expected < 1666.667 us) --> Read time : 178.469 us, Update time : 132.766 us, Write time : 2238.866 us + 9.11sWARNros2_control_nodeOverrun might occur, Total time : 2550.101 us (Expected < 1666.667 us) --> Read time : 178.469 us, Update time : 132.766 us, Write time : 2238.866 us[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544151 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544151 ms (missed cycles : 3).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670169 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670169 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898428 ms (missed cycles : 5). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898428 ms (missed cycles : 5).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930414 ms (missed cycles : 4). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930414 ms (missed cycles : 4).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579442 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579442 ms (missed cycles : 3).[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901164 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901164 ms (missed cycles : 2).[0m ×2 + 14.95sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746108 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746108 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717077 ms (missed cycles : 3). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717077 ms (missed cycles : 3).[0m ×2 + 17.65sWARNcontroller_managerOverrun might occur, Total time : 2876.576 us (Expected < 1666.667 us) --> Read time : 109.825 us, Update time : 2527.510 us, Write time : 239.241 us + 17.65sWARNros2_control_nodeOverrun might occur, Total time : 2876.576 us (Expected < 1666.667 us) --> Read time : 109.825 us, Update time : 2527.510 us, Write time : 239.241 us[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919133 ms (missed cycles : 4). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919133 ms (missed cycles : 4).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206560 ms (missed cycles : 2).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073216 ms (missed cycles : 5). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073216 ms (missed cycles : 5).[0m ×2 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708971 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708971 ms (missed cycles : 2).[0m ×2 + 21.06sWARNcontroller_managerOverrun might occur, Total time : 3136.188 us (Expected < 1666.667 us) --> Read time : 136.567 us, Update time : 2702.827 us, Write time : 296.794 us + 21.07sWARNros2_control_nodeOverrun might occur, Total time : 3136.188 us (Expected < 1666.667 us) --> Read time : 136.567 us, Update time : 2702.827 us, Write time : 296.794 us[0m ×2 + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464314 ms (missed cycles : 3). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464314 ms (missed cycles : 3).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842520 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842520 ms (missed cycles : 3).[0m ×2 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819008 ms (missed cycles : 2). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819008 ms (missed cycles : 2).[0m ×2 + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552715 ms (missed cycles : 3). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552715 ms (missed cycles : 3).[0m ×2 + 25.19sWARNcontroller_managerOverrun might occur, Total time : 2318.490 us (Expected < 1666.667 us) --> Read time : 83.404 us, Update time : 1980.014 us, Write time : 255.072 us + 25.19sWARNros2_control_nodeOverrun might occur, Total time : 2318.490 us (Expected < 1666.667 us) --> Read time : 83.404 us, Update time : 1980.014 us, Write time : 255.072 us[0m ×2 + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209626 ms (missed cycles : 4). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209626 ms (missed cycles : 4).[0m ×2 + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512679 ms (missed cycles : 3). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512679 ms (missed cycles : 3).[0m ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781232 ms (missed cycles : 2). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781232 ms (missed cycles : 2).[0m ×2 + 29.11sWARNcontroller_managerOverrun might occur, Total time : 2375.262 us (Expected < 1666.667 us) --> Read time : 2029.346 us, Update time : 97.914 us, Write time : 248.002 us + 29.12sWARNros2_control_nodeOverrun might occur, Total time : 2375.262 us (Expected < 1666.667 us) --> Read time : 2029.346 us, Update time : 97.914 us, Write time : 248.002 us[0m ×2 + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745513 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745513 ms (missed cycles : 2).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3).[0m ×2 + 31.28sWARNcontroller_managerOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us + 31.29sWARNros2_control_nodeOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us[0m ×2 + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4).[0m ×2 + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3).[0m ×2 + 32.70sWARNcontroller_managerOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us + 32.70sWARNros2_control_nodeOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us[0m ×2 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2).[0m ×2 + 33.60sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781135019.75620985 seconds ×3 + 34.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781135020.29988074 seconds. ×3 + 34.43sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 34.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5). + 34.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5).[0m ×2 + 34.72sWARNcontroller_managerOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us + 34.72sWARNros2_control_nodeOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us[0m ×2 + 35.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2).[0m ×2 + 36.21sWARNcontroller_managerOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us + 36.21sWARNros2_control_nodeOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.7s | 68 errors · 39 warnings · 361 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073684 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073684 ms (missed cycles : 2).[0m ×2 + 0.75sWARNcontroller_managerOverrun might occur, Total time : 2730.699 us (Expected < 1666.667 us) --> Read time : 121.365 us, Update time : 180.629 us, Write time : 2428.705 us + 0.75sWARNros2_control_nodeOverrun might occur, Total time : 2730.699 us (Expected < 1666.667 us) --> Read time : 121.365 us, Update time : 180.629 us, Write time : 2428.705 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653560 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653560 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551896 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551896 ms (missed cycles : 5).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781135222.73202848 seconds ×3 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781135223.30714726 seconds. ×3 + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.03sINFOmove_groupClearing octomap...[0m ×2 + 3.03sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655790 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655790 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781135223.64728260 seconds ×3 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 1721.551 us (Expected < 1666.667 us) --> Read time : 88.384 us, Update time : 811.798 us, Write time : 821.369 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 1721.551 us (Expected < 1666.667 us) --> Read time : 88.384 us, Update time : 811.798 us, Write time : 821.369 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781135224.18619728 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925996 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925996 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781135224.52632999 seconds ×3 + 4.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766252 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766252 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240616 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240616 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun might occur, Total time : 1728.122 us (Expected < 1666.667 us) --> Read time : 131.516 us, Update time : 1287.201 us, Write time : 309.405 us + 6.27sWARNros2_control_nodeOverrun might occur, Total time : 1728.122 us (Expected < 1666.667 us) --> Read time : 131.516 us, Update time : 1287.201 us, Write time : 309.405 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713400 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713400 ms (missed cycles : 3).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803867 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803867 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440711 ms (missed cycles : 4). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440711 ms (missed cycles : 4).[0m ×2 + 10.03sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.08sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.11sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.12sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.14sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.15sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.17sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.18sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.20sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.22sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.23sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.25sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.27sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.28sINFOcontroller_managerShutdown request received.... + 10.28sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.28sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.28sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.28sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.28sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.28sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.28sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.28sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.28sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.28sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.28sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.28sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.28sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.28sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.28sINFOcontroller_managerShutting down the controller manager. + 10.29sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.31sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.31sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOweb_video_server-31process has finished cleanly [pid 9948] ×2 + 10.33sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.34sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.35sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9947] ×2 + 10.36sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.38sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.39sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.39sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.39sINFOmap_serverDeactivating + 10.39sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.39sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.39sERRORobjective_server_node_main-25process has died [pid 9924, 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_znzrjcwu --params-file /tmp/launch_params_snkjvdqj --params-file /tmp/launch_params_k8ukzl5a --params-file /tmp/launch_params_26rq2lmq --params-file /tmp/launch_params_hh1j73mx --params-file /tmp/launch_params_4b7uq70q']. ×2 + 10.39sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.39sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.39sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.39sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.39sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.39sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.40sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.40sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.40sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.40sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.40sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.40sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.40sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.40sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.40sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.40sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOobjective_server_node[2026-06-10 23:47:10.534] [moveit_pro_license] [info] ×2 + 10.40sINFOobjective_server_node************************************************* ×4 + 10.40sINFOobjective_server_node* MoveIt Pro License ×2 + 10.40sINFOobjective_server_node* Application has successfully terminated ×2 + 10.40sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.40sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.40sINFOmap_serverCleaning up + 10.40sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.40sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.40sINFOcontroller_serverCleaning up + 10.40sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.40sINFOlocal_costmap.local_costmapCleaning up + 10.40sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.40sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.40sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.40sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.40sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.40sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.40sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.40sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.41sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.41sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.41sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b5120ae6a4, in _start ×2 + 10.41sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b3925f28a, in __libc_start_main ×2 + 10.41sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b3925f1d0, in ×2 + 10.41sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b3927cbbd, in exit ×2 + 10.41sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b3927ca75, in ×2 + 10.41sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0b3974e4a2, in spdlog::details::registry::~registry() ×2 + 10.41sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0b3975969d, 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 + 10.41sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0b39753965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.41sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b5120b5315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.41sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b5120b45a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.41sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b5120b0b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.41sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b5120aed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.41sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b39dd1454, in rclcpp::Node::~Node() ×2 + 10.41sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b39d8c515, in ×2 + 10.41sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b39dcfd20, in ×2 + 10.41sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b39dcfc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.41sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b39d8c5d9, in ×2 + 10.41sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b39d91161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.41sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f0ae4b42420]) ×2 + 10.41sINFOmove_groupDeleting MoveItCpp[0m ×2 + 10.41sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.41sINFOodom_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 + 10.41sINFOodom_qos_relay.pymain() ×2 + 10.41sINFOodom_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 + 10.41sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.41sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.41sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.41sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.41sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.41sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.41sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.41sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.41sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.41sINFOmove_groupStopping world geometry monitor[0m ×2 + 10.41sINFOmove_groupStopping planning scene monitor[0m ×2 + 10.41sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 10.41sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.42sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.44sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.44sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.44sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.46sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.46sINFOsmoother_serverCleaning up + 10.47sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.47sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.47sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.47sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.47sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.47sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.47sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.47sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.47sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.47sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.47sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.47sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.49sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.49sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 10.49sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.23sINFOexecute_objective_bridge-27process has finished cleanly [pid 9944] ×2 + 11.23sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9923] ×2 + 11.23sERRORui_teleop_bridge-28process has died [pid 9945, 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_i6biisn2']. ×2 + 11.24sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9881] ×2 + 11.29sINFOparameter_manager_node-21process has finished cleanly [pid 9877] ×2 + 11.30sINFOwaypoint_manager_node-22process has finished cleanly [pid 9880] ×2 + 11.33sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9777] ×2 + 11.35sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9776] ×2 + 11.39sINFOstatic_transform_publisher-4process has finished cleanly [pid 9774] ×2 + 11.39sINFOcomponent_container_mt-26process has finished cleanly [pid 9925] ×2 + 11.40sINFOstatic_transform_publisher-3process has finished cleanly [pid 9773] ×2 + 11.41sINFOstatic_transform_publisher-2process has finished cleanly [pid 9772] ×2 + 11.42sERRORodom_qos_relay.py-5process has died [pid 9775, 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 + 11.43sINFOmove_group-20process has finished cleanly [pid 9876] ×2 + 12.04sINFOros2_control_node-8process has finished cleanly [pid 9778] ×2 + 12.99sINFOweb_bridge-29process has finished cleanly [pid 9946] ×2 + 12.99sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 15.03sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.04sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 15.05sERRORcomponent_container_isolated-1process has died [pid 9771, 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_pnzswrog --params-file /tmp/launch_params_x1j2cje3 -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 | 12.4s | 72 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128534 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128534 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912184 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912184 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133746 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133746 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847210 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847210 ms (missed cycles : 3).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.66sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781135210.34903240 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781135210.89840484 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423095 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423095 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236094 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236094 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 2876.007 us (Expected < 1666.667 us) --> Read time : 109.615 us, Update time : 2501.529 us, Write time : 264.863 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 2876.007 us (Expected < 1666.667 us) --> Read time : 109.615 us, Update time : 2501.529 us, Write time : 264.863 us[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638060 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638060 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412223 ms (missed cycles : 4). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412223 ms (missed cycles : 4).[0m ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 8.77sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.84sWARNcontroller_managerOverrun might occur, Total time : 2057.387 us (Expected < 1666.667 us) --> Read time : 85.754 us, Update time : 1748.443 us, Write time : 223.190 us + 8.84sWARNros2_control_nodeOverrun might occur, Total time : 2057.387 us (Expected < 1666.667 us) --> Read time : 85.754 us, Update time : 1748.443 us, Write time : 223.190 us[0m ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 29 iterations (0.0232808 s). ×2 + 9.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X______X] ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426938 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426938 ms (missed cycles : 4).[0m ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.02sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.05sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763670 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763670 ms (missed cycles : 3).[0m ×2 + 11.29sWARNcontroller_managerOverrun might occur, Total time : 1759.574 us (Expected < 1666.667 us) --> Read time : 177.939 us, Update time : 206.270 us, Write time : 1375.365 us + 11.29sWARNros2_control_nodeOverrun might occur, Total time : 1759.574 us (Expected < 1666.667 us) --> Read time : 177.939 us, Update time : 206.270 us, Write time : 1375.365 us[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141375 ms (missed cycles : 5). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141375 ms (missed cycles : 5).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162505 ms (missed cycles : 5). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162505 ms (missed cycles : 5).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073684 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073684 ms (missed cycles : 2).[0m ×2 + 14.34sWARNcontroller_managerOverrun might occur, Total time : 2730.699 us (Expected < 1666.667 us) --> Read time : 121.365 us, Update time : 180.629 us, Write time : 2428.705 us + 14.34sWARNros2_control_nodeOverrun might occur, Total time : 2730.699 us (Expected < 1666.667 us) --> Read time : 121.365 us, Update time : 180.629 us, Write time : 2428.705 us[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653560 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653560 ms (missed cycles : 3).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551896 ms (missed cycles : 5). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551896 ms (missed cycles : 5).[0m ×2 + 16.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781135222.73202848 seconds ×3 + 16.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781135223.30714726 seconds. ×3 + 16.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.62sINFOmove_groupClearing octomap...[0m ×2 + 16.62sINFOmove_groupOctomap cleared.[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655790 ms (missed cycles : 3). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655790 ms (missed cycles : 3).[0m ×2 + 16.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781135223.64728260 seconds ×3 + 17.40sWARNcontroller_managerOverrun might occur, Total time : 1721.551 us (Expected < 1666.667 us) --> Read time : 88.384 us, Update time : 811.798 us, Write time : 821.369 us + 17.40sWARNros2_control_nodeOverrun might occur, Total time : 1721.551 us (Expected < 1666.667 us) --> Read time : 88.384 us, Update time : 811.798 us, Write time : 821.369 us[0m ×2 + 17.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781135224.18619728 seconds. ×3 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925996 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925996 ms (missed cycles : 2).[0m ×2 + 17.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781135224.52632999 seconds ×3 + 18.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766252 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766252 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 78 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267998 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267998 ms (missed cycles : 2).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 1692.710 us (Expected < 1666.667 us) --> Read time : 1283.831 us, Update time : 150.377 us, Write time : 258.502 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 1692.710 us (Expected < 1666.667 us) --> Read time : 1283.831 us, Update time : 150.377 us, Write time : 258.502 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304259 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304259 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535932 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535932 ms (missed cycles : 3).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 3225.933 us (Expected < 1666.667 us) --> Read time : 84.454 us, Update time : 2888.017 us, Write time : 253.462 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 3225.933 us (Expected < 1666.667 us) --> Read time : 84.454 us, Update time : 2888.017 us, Write time : 253.462 us[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685281 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685281 ms (missed cycles : 2).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781135073.25001907 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781135073.78699660 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571504 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571504 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2145.291 us (Expected < 1666.667 us) --> Read time : 111.015 us, Update time : 1738.662 us, Write time : 295.614 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 2145.291 us (Expected < 1666.667 us) --> Read time : 111.015 us, Update time : 1738.662 us, Write time : 295.614 us[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691623 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691623 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786731 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786731 ms (missed cycles : 3).[0m ×2 + 7.01sWARNcontroller_managerOverrun might occur, Total time : 2589.293 us (Expected < 1666.667 us) --> Read time : 81.484 us, Update time : 2215.775 us, Write time : 292.034 us + 7.01sWARNros2_control_nodeOverrun might occur, Total time : 2589.293 us (Expected < 1666.667 us) --> Read time : 81.484 us, Update time : 2215.775 us, Write time : 292.034 us[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163833 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163833 ms (missed cycles : 4).[0m ×2 + 8.27sWARNcontroller_managerOverrun might occur, Total time : 2044.517 us (Expected < 1666.667 us) --> Read time : 205.480 us, Update time : 1504.161 us, Write time : 334.876 us + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283375 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun might occur, Total time : 2044.517 us (Expected < 1666.667 us) --> Read time : 205.480 us, Update time : 1504.161 us, Write time : 334.876 us[0m ×2 + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283375 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367887 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367887 ms (missed cycles : 4).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170156 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170156 ms (missed cycles : 3).[0m ×2 + 10.88sWARNcontroller_managerOverrun might occur, Total time : 4730.274 us (Expected < 1666.667 us) --> Read time : 160.008 us, Update time : 4308.274 us, Write time : 261.992 us + 10.88sWARNros2_control_nodeOverrun might occur, Total time : 4730.274 us (Expected < 1666.667 us) --> Read time : 160.008 us, Update time : 4308.274 us, Write time : 261.992 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616728 ms (missed cycles : 4). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616728 ms (missed cycles : 4).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232459 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232459 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun might occur, Total time : 6655.487 us (Expected < 1666.667 us) --> Read time : 78.854 us, Update time : 6210.446 us, Write time : 366.187 us + 12.97sWARNros2_control_nodeOverrun might occur, Total time : 6655.487 us (Expected < 1666.667 us) --> Read time : 78.854 us, Update time : 6210.446 us, Write time : 366.187 us[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207819 ms (missed cycles : 4). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207819 ms (missed cycles : 4).[0m ×2 + 14.15sINFOjoint_trajectory_controllerGot request to cancel goal + 14.15sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.15sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.15sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781135083.85106754 seconds ×3 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879469 ms (missed cycles : 5). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879469 ms (missed cycles : 5).[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781135084.39574862 seconds. ×3 + 15.02sINFOobjective_server_nodeFound path in 0 iterations (1.19e-06 s). ×2 + 15.26sWARNcontroller_managerOverrun might occur, Total time : 4710.372 us (Expected < 1666.667 us) --> Read time : 124.556 us, Update time : 4270.442 us, Write time : 315.374 us + 15.27sWARNros2_control_nodeOverrun might occur, Total time : 4710.372 us (Expected < 1666.667 us) --> Read time : 124.556 us, Update time : 4270.442 us, Write time : 315.374 us[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794842 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794842 ms (missed cycles : 3).[0m ×2 + 15.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775778 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775778 ms (missed cycles : 2).[0m ×2 + 17.08sWARNcontroller_managerOverrun might occur, Total time : 1963.343 us (Expected < 1666.667 us) --> Read time : 198.669 us, Update time : 301.955 us, Write time : 1462.719 us + 17.08sWARNros2_control_nodeOverrun might occur, Total time : 1963.343 us (Expected < 1666.667 us) --> Read time : 198.669 us, Update time : 301.955 us, Write time : 1462.719 us[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 48 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2).[0m ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.66sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781134983.55776548 seconds ×3 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781134984.10834312 seconds. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.59sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.59sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.59sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.59sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543262 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543262 ms (missed cycles : 3).[0m ×2 + 7.24sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781134988.07847667 seconds ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127663 ms (missed cycles : 5). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127663 ms (missed cycles : 5).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186499 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186499 ms (missed cycles : 3).[0m ×2 + 8.79sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781134989.62606311 seconds. ×3 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (9.5e-07 s). ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996095 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996095 ms (missed cycles : 3).[0m ×2 + 10.11sWARNcontroller_managerOverrun might occur, Total time : 3420.832 us (Expected < 1666.667 us) --> Read time : 125.946 us, Update time : 2875.336 us, Write time : 419.550 us + 10.11sWARNros2_control_nodeOverrun might occur, Total time : 3420.832 us (Expected < 1666.667 us) --> Read time : 125.946 us, Update time : 2875.336 us, Write time : 419.550 us[0m ×2 + 10.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587306 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587306 ms (missed cycles : 3).[0m ×2 + 11.39sWARNcontroller_managerOverrun might occur, Total time : 1729.523 us (Expected < 1666.667 us) --> Read time : 95.365 us, Update time : 1366.065 us, Write time : 268.093 us + 11.39sWARNros2_control_nodeOverrun might occur, Total time : 1729.523 us (Expected < 1666.667 us) --> Read time : 95.365 us, Update time : 1366.065 us, Write time : 268.093 us[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 45 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727299 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727299 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074917 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074917 ms (missed cycles : 4).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 6274.298 us (Expected < 1666.667 us) --> Read time : 66.523 us, Update time : 5930.021 us, Write time : 277.754 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 6274.298 us (Expected < 1666.667 us) --> Read time : 66.523 us, Update time : 5930.021 us, Write time : 277.754 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348259 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348259 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.34sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781134923.62848926 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781134924.16708302 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (1.9351e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781134927.07722521 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495046 ms (missed cycles : 3). + 7.35sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781134927.61762309 seconds. ×3 + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495046 ms (missed cycles : 3).[0m ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797046 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797046 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun might occur, Total time : 2736.819 us (Expected < 1666.667 us) --> Read time : 194.899 us, Update time : 2219.185 us, Write time : 322.735 us + 8.49sWARNros2_control_nodeOverrun might occur, Total time : 2736.819 us (Expected < 1666.667 us) --> Read time : 194.899 us, Update time : 2219.185 us, Write time : 322.735 us[0m ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849071 ms (missed cycles : 5). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849071 ms (missed cycles : 5).[0m ×2 + 10.10sWARNcontroller_managerOverrun might occur, Total time : 1970.433 us (Expected < 1666.667 us) --> Read time : 121.305 us, Update time : 65.504 us, Write time : 1783.624 us + 10.10sWARNros2_control_nodeOverrun might occur, Total time : 1970.433 us (Expected < 1666.667 us) --> Read time : 121.305 us, Update time : 65.504 us, Write time : 1783.624 us[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 0.9s | 33 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162505 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162505 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073684 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073684 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun might occur, Total time : 2730.699 us (Expected < 1666.667 us) --> Read time : 121.365 us, Update time : 180.629 us, Write time : 2428.705 us + 1.79sWARNros2_control_nodeOverrun might occur, Total time : 2730.699 us (Expected < 1666.667 us) --> Read time : 121.365 us, Update time : 180.629 us, Write time : 2428.705 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653560 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653560 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551896 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551896 ms (missed cycles : 5).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781135222.73202848 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781135223.30714726 seconds. ×3 + 4.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.07sINFOmove_groupClearing octomap...[0m ×2 + 4.07sINFOmove_groupOctomap cleared.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655790 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655790 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781135223.64728260 seconds ×3 + 4.85sWARNcontroller_managerOverrun might occur, Total time : 1721.551 us (Expected < 1666.667 us) --> Read time : 88.384 us, Update time : 811.798 us, Write time : 821.369 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 1721.551 us (Expected < 1666.667 us) --> Read time : 88.384 us, Update time : 811.798 us, Write time : 821.369 us[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781135224.18619728 seconds. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925996 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925996 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781135224.52632999 seconds ×3 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766252 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766252 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240616 ms (missed cycles : 4). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240616 ms (missed cycles : 4).[0m ×2 + 7.31sWARNcontroller_managerOverrun might occur, Total time : 1728.122 us (Expected < 1666.667 us) --> Read time : 131.516 us, Update time : 1287.201 us, Write time : 309.405 us + 7.31sWARNros2_control_nodeOverrun might occur, Total time : 1728.122 us (Expected < 1666.667 us) --> Read time : 131.516 us, Update time : 1287.201 us, Write time : 309.405 us[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 39 warnings · 1182 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.02sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.03sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.35sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.36sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9857] ×2 + 0.41sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.43sINFOplatform_velocity_controllerconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×4 + 0.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.44sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.74sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.74sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.80sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.80sINFOplatform_velocity_controller_nav2configure successful + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 1.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 1.51sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 1.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 1.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 2.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.77sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.77sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 5.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 6.60sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727299 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727299 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074917 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074917 ms (missed cycles : 4).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 6274.298 us (Expected < 1666.667 us) --> Read time : 66.523 us, Update time : 5930.021 us, Write time : 277.754 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 6274.298 us (Expected < 1666.667 us) --> Read time : 66.523 us, Update time : 5930.021 us, Write time : 277.754 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348259 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348259 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781134923.62848926 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781134924.16708302 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (1.9351e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOjoint_trajectory_controllerReceived new action goal + 4.70sINFOjoint_trajectory_controllerAccepted new action goal + 4.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727299 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727299 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074917 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074917 ms (missed cycles : 4).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 6274.298 us (Expected < 1666.667 us) --> Read time : 66.523 us, Update time : 5930.021 us, Write time : 277.754 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 6274.298 us (Expected < 1666.667 us) --> Read time : 66.523 us, Update time : 5930.021 us, Write time : 277.754 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348259 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348259 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781134923.62848926 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781134924.16708302 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (1.9351e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOjoint_trajectory_controllerReceived new action goal + 4.70sINFOjoint_trajectory_controllerAccepted new action goal + 4.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 33 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554265 ms (missed cycles : 4).[0m ×2 + 0.21sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.21sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781134923.62848926 seconds ×3 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.76sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781134924.16708302 seconds. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001568 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us + 1.12sWARNros2_control_nodeOverrun might occur, Total time : 3443.002 us (Expected < 1666.667 us) --> Read time : 99.424 us, Update time : 2925.749 us, Write time : 417.829 us[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (1.9351e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715709 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 2153.382 us (Expected < 1666.667 us) --> Read time : 99.795 us, Update time : 1815.065 us, Write time : 238.522 us[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996420 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781134927.07722521 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495046 ms (missed cycles : 3). + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781134927.61762309 seconds. ×3 + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495046 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797046 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797046 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun might occur, Total time : 2736.819 us (Expected < 1666.667 us) --> Read time : 194.899 us, Update time : 2219.185 us, Write time : 322.735 us + 5.36sWARNros2_control_nodeOverrun might occur, Total time : 2736.819 us (Expected < 1666.667 us) --> Read time : 194.899 us, Update time : 2219.185 us, Write time : 322.735 us[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849071 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849071 ms (missed cycles : 5).[0m ×2 + 6.96sWARNcontroller_managerOverrun might occur, Total time : 1970.433 us (Expected < 1666.667 us) --> Read time : 121.305 us, Update time : 65.504 us, Write time : 1783.624 us + 6.96sWARNros2_control_nodeOverrun might occur, Total time : 1970.433 us (Expected < 1666.667 us) --> Read time : 121.305 us, Update time : 65.504 us, Write time : 1783.624 us[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2).[0m ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781134983.55776548 seconds ×3 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781134984.10834312 seconds. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.59sINFOjoint_trajectory_controllerReceived new action goal + 3.59sINFOjoint_trajectory_controllerAccepted new action goal + 3.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2).[0m ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781134983.55776548 seconds ×3 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781134984.10834312 seconds. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.59sINFOjoint_trajectory_controllerReceived new action goal + 3.59sINFOjoint_trajectory_controllerAccepted new action goal + 3.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2).[0m ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781134983.55776548 seconds ×3 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781134984.10834312 seconds. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.59sINFOjoint_trajectory_controllerReceived new action goal + 3.59sINFOjoint_trajectory_controllerAccepted new action goal + 3.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2).[0m ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781134983.55776548 seconds ×3 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781134984.10834312 seconds. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.59sINFOjoint_trajectory_controllerReceived new action goal + 3.59sINFOjoint_trajectory_controllerAccepted new action goal + 3.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864460 ms (missed cycles : 2).[0m ×2 + 0.41sWARNcontroller_managerOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us + 0.41sWARNros2_control_nodeOverrun might occur, Total time : 2491.177 us (Expected < 1666.667 us) --> Read time : 102.135 us, Update time : 2121.140 us, Write time : 267.902 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005186 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360014 ms (missed cycles : 3).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781134983.55776548 seconds ×3 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2563.041 us (Expected < 1666.667 us) --> Read time : 122.886 us, Update time : 2172.753 us, Write time : 267.402 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209726 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781134984.10834312 seconds. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.59sINFOjoint_trajectory_controllerReceived new action goal + 3.59sINFOjoint_trajectory_controllerAccepted new action goal + 3.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928077 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004071 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 2961.300 us (Expected < 1666.667 us) --> Read time : 125.926 us, Update time : 2487.388 us, Write time : 347.986 us[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3).[0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us + 2.30sWARNros2_control_nodeOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781135019.75620985 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781135020.29988074 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5).[0m ×2 + 4.32sWARNcontroller_managerOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us + 4.32sWARNros2_control_nodeOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us[0m ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3).[0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us + 2.30sWARNros2_control_nodeOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781135019.75620985 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781135020.29988074 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5).[0m ×2 + 4.32sWARNcontroller_managerOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us + 4.32sWARNros2_control_nodeOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us[0m ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526967 ms (missed cycles : 3).[0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 2214.124 us (Expected < 1666.667 us) --> Read time : 106.585 us, Update time : 1879.279 us, Write time : 228.260 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295461 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462115 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us + 2.30sWARNros2_control_nodeOverrun might occur, Total time : 1828.477 us (Expected < 1666.667 us) --> Read time : 143.947 us, Update time : 1390.876 us, Write time : 293.654 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904789 ms (missed cycles : 2).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781135019.75620985 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781135020.29988074 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5).[0m ×2 + 4.32sWARNcontroller_managerOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us + 4.32sWARNros2_control_nodeOverrun might occur, Total time : 3007.042 us (Expected < 1666.667 us) --> Read time : 128.426 us, Update time : 2562.061 us, Write time : 316.555 us[0m ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045746 ms (missed cycles : 2).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 1810.426 us (Expected < 1666.667 us) --> Read time : 103.345 us, Update time : 1467.909 us, Write time : 239.172 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215852 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 39 warnings · 1182 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.02sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.03sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.35sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.36sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9857] ×2 + 0.41sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.43sINFOplatform_velocity_controllerconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×4 + 0.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.44sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.74sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.74sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.80sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.80sINFOplatform_velocity_controller_nav2configure successful + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 1.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 1.51sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 1.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 1.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 2.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.77sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.77sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 5.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 6.60sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 39 warnings · 1182 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.02sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.03sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.35sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.36sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9857] ×2 + 0.41sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.43sINFOplatform_velocity_controllerconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×4 + 0.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.44sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.74sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.74sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.80sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.80sINFOplatform_velocity_controller_nav2configure successful + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 1.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 1.51sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 1.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 1.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 2.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.77sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.77sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 5.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 6.60sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324274 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912037 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us + 1.41sWARNros2_control_nodeOverrun might occur, Total time : 3001.324 us (Expected < 1666.667 us) --> Read time : 151.228 us, Update time : 2550.132 us, Write time : 299.964 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998737 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928259 ms (missed cycles : 2).[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781135155.15590310 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585448 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781135155.70617700 seconds. ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 1995.635 us (Expected < 1666.667 us) --> Read time : 149.537 us, Update time : 98.944 us, Write time : 1747.154 us[0m ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357860 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790861 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 1682.790 us (Expected < 1666.667 us) --> Read time : 96.285 us, Update time : 1331.713 us, Write time : 254.792 us[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 27 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162505 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162505 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073684 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073684 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun might occur, Total time : 2730.699 us (Expected < 1666.667 us) --> Read time : 121.365 us, Update time : 180.629 us, Write time : 2428.705 us + 1.79sWARNros2_control_nodeOverrun might occur, Total time : 2730.699 us (Expected < 1666.667 us) --> Read time : 121.365 us, Update time : 180.629 us, Write time : 2428.705 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653560 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653560 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551896 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551896 ms (missed cycles : 5).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781135222.73202848 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781135223.30714726 seconds. ×3 + 4.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.07sINFOmove_groupClearing octomap...[0m ×2 + 4.07sINFOmove_groupOctomap cleared.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655790 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655790 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781135223.64728260 seconds ×3 + 4.85sWARNcontroller_managerOverrun might occur, Total time : 1721.551 us (Expected < 1666.667 us) --> Read time : 88.384 us, Update time : 811.798 us, Write time : 821.369 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 1721.551 us (Expected < 1666.667 us) --> Read time : 88.384 us, Update time : 811.798 us, Write time : 821.369 us[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781135224.18619728 seconds. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925996 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925996 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781135224.52632999 seconds ×3 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766252 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
▾
/__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 | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 19.0s | 11 errors · 89 warnings · 4735 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/2026-06-10-23-40-59-048734-7e9f5b977642-9722 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 6.72sINFOstatic_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' + 6.72sINFOstatic_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' + 6.72sINFOstatic_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' + 6.81sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 6.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 6.84sINFOcontroller_managerupdate rate is 600 Hz + 6.84sINFOcontroller_managerOverruns handling is : enabled + 6.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 6.85sWARNcontroller_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. + 6.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192964 ms (missed cycles : 2). + 6.96sINFOros2_control_node-8process started with pid [9778] ×2 + 6.96sINFOmove_group-20process started with pid [9876] ×2 + 6.96sINFOparameter_manager_node-21process started with pid [9877] ×2 + 6.96sINFOwaypoint_manager_node-22process started with pid [9880] ×2 + 6.96sINFOmove_joint_resampler_node-23process started with pid [9881] ×2 + 6.96sINFOmove_end_effector_resampler_node-24process started with pid [9923] ×2 + 6.96sINFOobjective_server_node_main-25process started with pid [9924] ×2 + 6.96sINFOcomponent_container_mt-26process started with pid [9925] ×2 + 6.96sINFOexecute_objective_bridge-27process started with pid [9944] ×2 + 6.96sINFOui_teleop_bridge-28process started with pid [9945] ×2 + 6.96sINFOweb_bridge-29process started with pid [9946] ×2 + 6.96sINFOtf2_web_republisher_node-30process started with pid [9947] ×2 + 6.96sINFOweb_video_server-31process started with pid [9948] ×2 + 6.97sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 6.97sINFOcomponent_container_isolated-1process started with pid [9771] ×2 + 6.97sINFOstatic_transform_publisher-2process started with pid [9772] ×2 + 6.97sINFOstatic_transform_publisher-3process started with pid [9773] ×2 + 6.97sINFOstatic_transform_publisher-4process started with pid [9774] ×2 + 6.97sINFOodom_qos_relay.py-5process started with pid [9775] ×2 + 6.97sINFOscan_to_scan_filter_chain-6process started with pid [9776] ×2 + 6.97sINFOscan_to_scan_filter_chain-7process started with pid [9777] ×2 + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9856] ×2 + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9857] ×2 + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9858] ×2 + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9860] ×2 + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9862] ×2 + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9863] ×2 + 6.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9866] ×2 + 6.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9868] ×2 + 6.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9870] ×2 + 6.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9872] ×2 + 6.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9874] ×2 + 7.03sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 7.03sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 7.03sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 7.03sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 7.03sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 7.03sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 7.04sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 7.04sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 7.04sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 7.04sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 7.04sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 7.04sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 7.04sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192964 ms (missed cycles : 2).[0m ×2 + 7.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 7.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 7.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 7.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 7.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 7.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 7.11sINFOmap_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. + 7.11sINFOmap_serverCreating + 7.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 7.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 7.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 7.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 7.15sINFOcontroller_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. + 7.18sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 7.18sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 7.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 7.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 7.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.20sINFOcontroller_serverCreating controller server + 7.27sINFOlocal_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. + 7.27sINFOlocal_costmap.local_costmapCreating Costmap + 7.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 7.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 7.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 7.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 7.30sINFOrobot_state_publisherRobot initialized + 7.30sINFOcontroller_managerReceived robot description from topic. + 7.30sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 7.30sINFOcomponent_container_mtRobot initialized[0m ×2 + 7.31sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 7.31sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 7.31sINFOlifecycle_manager_localizationCreating + 7.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 7.33sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 7.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 7.34sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 7.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 7.34sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 7.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 7.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 7.34sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 7.34sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 7.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 7.35sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 7.35sINFOmap_serverConfiguring + 7.38sINFOsmoother_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. + 7.40sINFOsmoother_serverCreating smoother server + 7.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 7.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 7.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 7.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 7.42sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.42sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 7.45sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 7.45sINFOplanner_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. + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 7.45sINFOmap_serverActivating + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 7.45sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 7.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 7.45sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 7.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 7.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 7.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 7.46sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 7.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 7.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 7.46sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 7.46sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 7.49sINFOplanner_serverCreating + 7.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 7.52sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 7.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 7.54sINFOglobal_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. + 7.54sINFOglobal_costmap.global_costmapCreating Costmap + 7.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 7.57sINFOlifecycle_manager_localizationServer map_server connected with bond. + 7.57sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 7.57sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 7.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 7.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 7.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 7.61sINFObehavior_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. + 7.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 7.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 7.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 7.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 7.70sINFObt_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. + 7.71sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 7.71sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 7.71sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 7.72sINFObt_navigatorCreating + 7.72sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.497374 seconds + 7.73sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 7.73sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 7.73sWARNlaser_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. + 7.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 7.73sWARNlaser_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. + 7.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 7.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 7.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 7.77sINFOwaypoint_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. + 7.78sINFOwaypoint_followerCreating + 7.79sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 7.80sINFOmove_groupLoaded robot model in 0.497374 seconds[0m ×2 + 7.80sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 7.80sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.80sWARNscan_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. ×4 + 7.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 7.81sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 7.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 7.81sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 7.81sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 7.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 7.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 7.85sINFOvelocity_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. + 7.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 7.87sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 7.88sINFOwaypoint_manager_nodeLoaded robot model in 0.287913 seconds[0m ×2 + 7.88sINFOlifecycle_manager_navigationCreating + 7.88sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 7.88sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.88sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 7.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 7.93sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 7.93sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 7.93sINFOcontroller_serverConfiguring controller interface + 7.93sINFOcontroller_servergetting progress checker plugins.. + 7.93sINFOcontroller_servergetting goal checker plugins.. + 7.93sINFOcontroller_serverController frequency set to 20.0000Hz + 7.93sINFOlocal_costmap.local_costmapConfiguring + 7.94sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 7.96sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728798 ms (missed cycles : 5). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728798 ms (missed cycles : 5).[0m ×2 + 8.00sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 8.00sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 8.01sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 8.05sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 8.05sINFOcontroller_serverController Server has progress_checker progress checkers available. + 8.05sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 8.06sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 8.07sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 8.09sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 8.10sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 8.10sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 8.12sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 8.12sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 8.12sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 8.12sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 8.13sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 8.13sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 8.15sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 8.15sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 8.15sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 8.16sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 8.16sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 8.17sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 8.17sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 8.17sINFOcontroller_serverOptimizer reset + 8.18sINFOcontroller_serverController Server has FollowPath controllers available. + 8.21sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 8.21sINFOsmoother_serverConfiguring smoother server + 8.23sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 8.24sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 8.26sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 8.26sINFOplanner_serverConfiguring + 8.26sINFOglobal_costmap.global_costmapConfiguring + 8.27sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 8.28sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 8.28sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 8.28sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 8.29sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 8.30sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.30sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.32sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 8.32sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 8.32sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 8.35sFATALplanner_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 + 8.35sINFOplanner_serverCleaning up + 8.35sINFOglobal_costmap.global_costmapCleaning up + 8.35sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 8.80sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 8.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.05sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 9.05sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 9.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 9.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 9.09sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 9.09sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 9.09sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 9.09sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 9.09sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 9.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 9.09sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 9.09sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 9.10sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.10sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 9.10sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 9.10sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 9.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 9.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 9.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 9.10sINFOmove_groupStarting planning scene monitor[0m ×2 + 9.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 9.10sINFOmove_groupListening to '/planning_scene'[0m ×2 + 9.10sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 9.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 9.10sINFOmove_groupListening to 'collision_object'[0m ×2 + 9.10sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 9.21sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 9.21sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.22sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 9.58sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 9.58sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 9.58sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 9.58sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 9.58sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 9.58sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 9.58sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 9.58sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 9.58sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 9.58sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 9.58sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 9.58sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 9.58sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 9.58sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 9.58sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 9.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 9.58sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 9.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 9.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 9.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 9.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 9.58sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 9.58sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 9.60sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 9.60sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 9.60sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 9.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 9.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 9.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 9.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 9.85sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 9.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 9.86sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.86sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.86sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 9.86sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 9.86sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 9.86sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 9.86sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 9.86sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 9.87sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 9.87sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 9.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 9.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 9.87sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 9.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 9.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 9.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 9.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 10.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 10.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 10.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 10.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 10.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 10.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.14sWARNcomponent_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 ×2 + 10.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.16sINFOobjective_server_node[2026-06-10 23:41:11.637] [moveit_pro_license] [info] ×2 + 10.16sINFOobjective_server_node************************************************* ×4 + 10.16sINFOobjective_server_node* MoveIt Pro License ×2 + 10.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9858] ×2 + 10.30sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 10.30sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 10.36sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 10.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 10.36sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.36sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.37sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 10.37sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 10.37sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 10.39sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 10.39sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 10.39sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 10.45sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 10.45sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 10.45sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 10.47sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 10.48sINFOobjective_server_nodeLoaded robot model in 0.270875 seconds[0m ×2 + 10.48sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 10.48sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.55sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 10.55sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 10.55sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 10.57sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 10.57sINFOcomponent_container_mtLoaded robot model in 0.41737 seconds[0m ×2 + 10.57sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 10.57sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.64sINFOros2_control_node[2026-06-10 23:41:12.115] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.64sINFOros2_control_node[2026-06-10 23:41:12.118] [info] Controller state will be published at 10 Hz. ×2 + 10.65sINFOros2_control_node[2026-06-10 23:41:12.119] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122689 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122689 ms (missed cycles : 2).[0m ×2 + 10.75sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.82sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 10.82sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 10.84sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 10.84sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 10.84sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 10.84sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 10.84sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 10.84sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 10.84sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 10.96sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.96sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9870] ×2 + 10.98sWARNcontroller_managerOverrun might occur, Total time : 3080.467 us (Expected < 1666.667 us) --> Read time : 128.146 us, Update time : 2612.574 us, Write time : 339.747 us + 10.99sWARNros2_control_nodeOverrun might occur, Total time : 3080.467 us (Expected < 1666.667 us) --> Read time : 128.146 us, Update time : 2612.574 us, Write time : 339.747 us[0m ×2 + 11.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 11.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 11.09sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 11.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 11.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.26sWARNobjective_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 + 11.27sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 11.28sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 11.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 11.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 11.31sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 11.31sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 11.34sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 11.34sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 11.35sINFOros2_control_node[2026-06-10 23:41:12.826] [info] Controller state will be published at 20 Hz. ×2 + 11.35sINFOros2_control_node[2026-06-10 23:41:12.827] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.40sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 11.40sINFOmove_groupMoveGroup debug mode is ON + 11.40sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 11.40sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 11.40sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 11.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 11.44sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 11.44sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 11.50sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 11.50sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 11.50sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 11.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 11.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 11.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 11.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 11.58sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 11.63sINFOmove_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
********************************************************
+ 11.63sINFOmove_group ×8 + 11.63sINFOmove_group******************************************************** ×4 + 11.63sINFOmove_group* MoveGroup using: ×2 + 11.63sINFOmove_group* - apply_planning_scene_service ×2 + 11.63sINFOmove_group* - clear_octomap_service ×2 + 11.63sINFOmove_group* - ExecuteTaskSolution ×2 + 11.63sINFOmove_group* - get_group_urdf ×2 + 11.63sINFOmove_group* - load_geometry_from_file ×2 + 11.63sINFOmove_group* - get_planning_scene_service ×2 + 11.63sINFOmove_group* - kinematics_service ×2 + 11.63sINFOmove_group* - save_geometry_to_file ×2 + 11.63sINFOmove_group* - GetPlanningGroups ×2 + 11.63sINFOmove_group* - SetActiveControllerService ×2 + 11.63sINFOmove_group* - URDFPlanningSceneCapability ×2 + 11.63sINFOmove_group[0m ×2 + 11.63sINFOmove_group[92mYou can start planning now![0m ×2 + 11.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 11.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 11.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9872] ×2 + 11.73sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 11.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 11.73sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.73sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.74sINFOforce_torque_sensor_broadcasterconfigure successful + 11.74sINFOros2_control_nodeconfigure successful[0m ×6 + 11.74sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.74sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.75sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 11.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562880 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562880 ms (missed cycles : 4).[0m ×2 + 12.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9856] ×2 + 12.07sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.33sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.33sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 12.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 12.40sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 12.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 12.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.41sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.41sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.41sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.41sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.41sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 12.76sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 12.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9866] ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189546 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189546 ms (missed cycles : 3).[0m ×2 + 13.01sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.01sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.01sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.01sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.02sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 13.02sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 13.04sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 13.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 13.04sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.04sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.04sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.04sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.05sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 13.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 13.36sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.36sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.36sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.36sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.37sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 13.37sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 13.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9857] ×2 + 13.42sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 13.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 13.44sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.44sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.44sINFOplatform_velocity_controllerconfigure successful + 13.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.45sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 13.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 13.75sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.75sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.75sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 13.75sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.75sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.75sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 13.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 13.81sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 13.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 13.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.81sINFOplatform_velocity_controller_nav2configure successful + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 14.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 14.23sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 14.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 14.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 14.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 14.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 14.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 14.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 14.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 14.52sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 14.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 14.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 14.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 14.79sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.80sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 14.80sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 15.13sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 15.13sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 15.13sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 15.13sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 15.13sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 15.13sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 15.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 15.18sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 15.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 15.18sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 15.18sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 15.45sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 15.45sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 15.75sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 15.75sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 15.78sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 15.78sINFOcontroller_managerLoading controller 'vacuum_gripper' + 15.78sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 15.78sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 15.78sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 15.78sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 15.80sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 15.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 15.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 15.83sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 15.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 15.83sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 15.83sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 15.83sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 15.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 15.84sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 15.84sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 15.84sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 15.84sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 15.85sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 15.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 16.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 16.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 16.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 16.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 16.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.60sINFOmove_groupClearing octomap...[0m ×2 + 16.60sINFOmove_groupOctomap cleared.[0m ×2 + 16.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 17.00sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 17.00sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 17.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 17.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 17.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 17.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 18.08sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 18.08sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 18.42sINFOobjective_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 + 18.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 18.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 18.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 18.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 18.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 18.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 18.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 18.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 18.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 18.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 18.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 18.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 18.44sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 18.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 18.44sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 18.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 18.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 19.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 19.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 19.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 19.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 19.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 19.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 19.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 19.19sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 19.19sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 19.61sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 43 warnings · 1138 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.06sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.06sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.07sINFOplatform_velocity_controller_nav2configure successful + 0.07sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.77sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.78sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.78sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.81sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.81sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.05sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.05sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.05sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 1.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.38sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.38sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.38sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 1.43sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.70sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.71sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.00sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.00sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.03sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.03sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.03sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.04sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.04sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.05sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.08sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.09sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.09sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.10sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.25sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.86sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.75sINFOjoint_trajectory_controllerReceived new action goal + 6.75sINFOjoint_trajectory_controllerAccepted new action goal + 6.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 42 warnings · 1185 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.02sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.03sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.35sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.36sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9857] ×2 + 0.41sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.43sINFOplatform_velocity_controllerconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×4 + 0.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.44sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.74sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.74sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.80sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.80sINFOplatform_velocity_controller_nav2configure successful + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 1.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 1.51sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 1.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 1.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 2.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.77sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.77sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 5.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 6.60sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.02sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-10-23-40-59-048734-7e9f5b977642-9722 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 39 warnings · 1182 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.02sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.03sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.35sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.36sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9857] ×2 + 0.41sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.43sINFOplatform_velocity_controllerconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×4 + 0.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.44sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.74sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.74sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.80sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.80sINFOplatform_velocity_controller_nav2configure successful + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 1.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 1.51sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 1.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 1.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 2.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.77sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.77sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 5.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 6.60sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 39 warnings · 1182 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.02sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.03sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.35sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.36sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9857] ×2 + 0.41sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.43sINFOplatform_velocity_controllerconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×4 + 0.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.44sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.74sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.74sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.80sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.80sINFOplatform_velocity_controller_nav2configure successful + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 1.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 1.51sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 1.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 1.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 2.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.77sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.77sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 5.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 6.60sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 39 warnings · 1182 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.02sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.03sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.35sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.35sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.36sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9857] ×2 + 0.41sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.43sINFOplatform_velocity_controllerconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×4 + 0.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.44sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.74sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.74sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.80sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.80sINFOplatform_velocity_controller_nav2configure successful + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 1.22sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 1.51sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 1.51sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 1.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 1.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.55sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.78sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 2.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 2.44sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.77sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.77sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 5.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 6.60sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 42 warnings · 1132 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9860] ×2 + 0.06sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.06sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.07sINFOplatform_velocity_controller_nav2configure successful + 0.07sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595705 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.48sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.77sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.78sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.78sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.81sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.81sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.05sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.05sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 1.05sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 1.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.38sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.38sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.38sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 1.43sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.70sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.71sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.00sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 2.00sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 2.03sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.03sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.03sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.04sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 2.04sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 2.05sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 2.08sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.09sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.09sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.09sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 2.10sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.85sINFOmove_groupClearing octomap...[0m ×2 + 2.85sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 3.25sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 5.44sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.86sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 42 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 42 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4).[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 | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
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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 | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 40 warnings · 1118 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9863] ×2 + 0.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.29sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.31sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.31sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.33sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.267] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.269] [info] Controller state will be published at 10 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-10 23:41:16.270] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218228 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 0.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9868] ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.925] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-06-10 23:41:16.926] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 2408.154 us (Expected < 1666.667 us) --> Read time : 323.145 us, Update time : 212.120 us, Write time : 1872.889 us[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 + 1.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8o4d0yg0 --params-file /tmp/launch_params_eyjpq_p0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params__n53ottr --params-file /tmp/launch_params_3uq86p77 [0m ×2 + 1.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9874] ×2 + 1.61sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3323.958 us (Expected < 1666.667 us) --> Read time : 71.874 us, Update time : 3027.724 us (Switch time : 2984.672 us (Switch chained mode time : 0.440 us, perform mode change time : 1.321 us, Activation time : 2978.671 us, Deactivation time : 0.329 us)), Write time : 224.360 us[0m ×2 + 1.62sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018546 ms (missed cycles : 2).[0m ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9862] ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781134878.07268667 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781134878.08295059 seconds ×3 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 1927.601 us (Expected < 1666.667 us) --> Read time : 105.065 us, Update time : 1570.224 us, Write time : 252.312 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459115 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781134878.62734199 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781134878.63748121 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781134879.17329216 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781134879.32378340 seconds ×3 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 1775.785 us (Expected < 1666.667 us) --> Read time : 132.787 us, Update time : 83.944 us, Write time : 1559.054 us[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614647 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781134879.88114691 seconds. ×3 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 2864.716 us (Expected < 1666.667 us) --> Read time : 76.013 us, Update time : 2521.790 us (Switch time : 2484.587 us (Switch chained mode time : 0.500 us, perform mode change time : 1.880 us, Activation time : 2478.237 us, Deactivation time : 0.421 us)), Write time : 266.913 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781134879.92129564 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781134880.45818806 seconds. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218629 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us + 4.97sWARNros2_control_nodeOverrun might occur, Total time : 1731.612 us (Expected < 1666.667 us) --> Read time : 137.557 us, Update time : 1311.012 us, Write time : 283.043 us[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783341 ms (missed cycles : 5).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960495 ms (missed cycles : 4). | ||||